fig4

Figure 4. Various approaches have been developed for needle tip localization (A), but only 7 report both needle tip localization and needle orientation error (B). Until 2022, progress was being made in reducing the needle tip localization error; however, most recent approaches seem to have reversed this trend (A). Current state-of-the-art methods achieve sub-millimeter needle tip localization and needle orientation errors (B). However, caution should be taken as these results are based on the self-reported errors on local datasets.