fig2
![Current status and challenges of 3D navigation in partial nephrectomy](https://image.oaes.cc/fff390db-73a9-48d8-a118-88fcd8d61f0e/mis7081.fig.2.jpg)
Figure 2. Overview of the technique for overlaying the 3D model and the surgical view in AR. No direct patient identifiers are included in this image. AI: Artificial intelligence; CNN: convolutional neural network; ICP: iterative closest point; CPD: coherent point cloud; SfM: structure from motion; SGBM: semi-global block matching; Mask R-CNN: Mask Region-based CNN; FEM: finite element method; 3D: Three-dimensional; AR: augmented reality.