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Computed tomography (CT) guided percutaneous punctures of the liver for cancer diagnosis and therapy (e.g. tumor biopsy, radiofrequency ablation) are well-established procedures in clinical routine. One of the main challenges related to these interventions is the accurate placement of the needle within the lesion. Several navigation concepts have been introduced to compensate for organ shift and deformation in real-time, yet, the operator error remains an important factor influencing thedoi:10.1117/12.811334 dblp:conf/miigp/Maier-HeinWSHSF09 fatcat:ood5nhmbwzdytjld7erieq3t7i