Acquire CT data and US and transducer position data (magnetic sensor system) of focal hepatic or renal lesions to serve as sample data sets for fusion algorithm development and subsequent optimization.
Acquire CT data and US and transducer position data (magnetic sensor system) of focal hepatic or renal lesions to serve as sample data sets for fusion algorithm development and subsequent optimization.
Optimize image fusion algorithms for use in goal. Develop registration algorithms that result in maximal lesional overlap with a clinically relevant difference in an epicenter location of ≤ 2 cm for lesional identification and, ultimately ≤ 0.3 cm for interventional procedures.
Focal lesion involving the liver or kidney bases on CT or MRI Imaging Liver lesion size >5 mm and <5 cm in diameter or renal lesion size is >5 mm and <4 cm in diameter Age >18 years old Patient has provided written informed consent
Exclusion Criteria:
Patient with cardiac pacemaker or defibrillator Pregnant or lactating woman Patient with severe IV contrast allergy (previous reaction to IV contrast not mitigated by appropriate premedication) Patient unable to give informed consent
