id	sid	tid	token	lemma	pos
aiua-5020	1	1	stesura	stesura	PROPN
aiua-5020	1	2	seveso	seveso	NOUN
aiua-5020	1	3	245archivio	245archivio	PROPN
aiua-5020	1	4	italiano	italiano	NOUN
aiua-5020	1	5	di	di	X
aiua-5020	1	6	urologia	urologia	PROPN
aiua-5020	1	7	e	e	PROPN
aiua-5020	1	8	andrologia	andrologia	NOUN
aiua-5020	1	9	2014	2014	NUM
aiua-5020	1	10	;	;	PUNCT
aiua-5020	1	11	86	86	NUM
aiua-5020	1	12	,	,	PUNCT
aiua-5020	1	13	4	4	NUM
aiua-5020	1	14	original	original	ADJ
aiua-5020	1	15	paper	paper	NOUN
aiua-5020	1	16	image	image	NOUN
aiua-5020	1	17	guided	guide	VERB
aiua-5020	1	18	robotic	robotic	ADJ
aiua-5020	1	19	surgery	surgery	NOUN
aiua-5020	1	20	:	:	PUNCT
aiua-5020	1	21	current	current	ADJ
aiua-5020	1	22	evidence	evidence	NOUN
aiua-5020	1	23	for	for	ADP
aiua-5020	1	24	effectiveness	effectiveness	NOUN
aiua-5020	1	25	in	in	ADP
aiua-5020	1	26	urology	urology	NOUN
aiua-5020	1	27	anum	anum	PROPN
aiua-5020	1	28	pervez	pervez	PROPN
aiua-5020	1	29	,	,	PUNCT
aiua-5020	1	30	kamran	kamran	PROPN
aiua-5020	1	31	ahmed	ahmed	PROPN
aiua-5020	1	32	,	,	PUNCT
aiua-5020	1	33	stephen	stephen	PROPN
aiua-5020	1	34	thompson	thompson	PROPN
aiua-5020	1	35	,	,	PUNCT
aiua-5020	1	36	oussama	oussama	PROPN
aiua-5020	1	37	elhage	elhage	PROPN
aiua-5020	1	38	,	,	PUNCT
aiua-5020	1	39	m.	m.	NOUN
aiua-5020	1	40	shamim	shamim	PROPN
aiua-5020	1	41	khan	khan	PROPN
aiua-5020	1	42	,	,	PUNCT
aiua-5020	1	43	prokar	prokar	PROPN
aiua-5020	1	44	dasgupta	dasgupta	PROPN
aiua-5020	1	45	mrc	mrc	PROPN
aiua-5020	1	46	centre	centre	PROPN
aiua-5020	1	47	for	for	ADP
aiua-5020	1	48	transplantation	transplantation	NOUN
aiua-5020	1	49	,	,	PUNCT
aiua-5020	1	50	nihr	nihr	PROPN
aiua-5020	1	51	biomedical	biomedical	ADJ
aiua-5020	1	52	research	research	NOUN
aiua-5020	1	53	centre	centre	PROPN
aiua-5020	1	54	,	,	PUNCT
aiua-5020	1	55	king	king	NOUN
aiua-5020	1	56	’s	’s	PART
aiua-5020	1	57	health	health	NOUN
aiua-5020	1	58	partners	partner	NOUN
aiua-5020	1	59	,	,	PUNCT
aiua-5020	1	60	king	king	NOUN
aiua-5020	1	61	’s	’s	PART
aiua-5020	1	62	college	college	PROPN
aiua-5020	1	63	london	london	PROPN
aiua-5020	1	64	and	and	CCONJ
aiua-5020	1	65	department	department	PROPN
aiua-5020	1	66	of	of	ADP
aiua-5020	1	67	urology	urology	NOUN
aiua-5020	1	68	,	,	PUNCT
aiua-5020	1	69	guy	guy	NOUN
aiua-5020	1	70	’s	’s	PART
aiua-5020	1	71	hospital	hospital	NOUN
aiua-5020	1	72	,	,	PUNCT
aiua-5020	1	73	st	st	PROPN
aiua-5020	1	74	thomas	thomas	PROPN
aiua-5020	1	75	street	street	PROPN
aiua-5020	1	76	,	,	PUNCT
aiua-5020	1	77	london	london	PROPN
aiua-5020	1	78	se1	se1	PROPN
aiua-5020	1	79	9rt	9rt	PROPN
aiua-5020	1	80	objectives	objective	NOUN
aiua-5020	1	81	:	:	PUNCT
aiua-5020	1	82	discussion	discussion	NOUN
aiua-5020	1	83	of	of	ADP
aiua-5020	1	84	the	the	DET
aiua-5020	1	85	evolution	evolution	NOUN
aiua-5020	1	86	of	of	ADP
aiua-5020	1	87	image	image	NOUN
aiua-5020	1	88	guided	guide	VERB
aiua-5020	1	89	surgery	surgery	NOUN
aiua-5020	1	90	(	(	PUNCT
aiua-5020	1	91	igs	igs	PROPN
aiua-5020	1	92	)	)	PUNCT
aiua-5020	1	93	and	and	CCONJ
aiua-5020	1	94	its	its	PRON
aiua-5020	1	95	fundamental	fundamental	ADJ
aiua-5020	1	96	components	component	NOUN
aiua-5020	1	97	and	and	CCONJ
aiua-5020	1	98	current	current	ADJ
aiua-5020	1	99	evidence	evidence	NOUN
aiua-5020	1	100	for	for	ADP
aiua-5020	1	101	effectiveness	effectiveness	NOUN
aiua-5020	1	102	of	of	ADP
aiua-5020	1	103	igs	igs	PROPN
aiua-5020	1	104	in	in	ADP
aiua-5020	1	105	clinical	clinical	ADJ
aiua-5020	1	106	urology	urology	NOUN
aiua-5020	1	107	.	.	PUNCT
aiua-5020	2	1	methods	method	NOUN
aiua-5020	2	2	:	:	PUNCT
aiua-5020	2	3	literature	literature	NOUN
aiua-5020	2	4	search	search	NOUN
aiua-5020	2	5	for	for	ADP
aiua-5020	2	6	image	image	NOUN
aiua-5020	2	7	-	-	PUNCT
aiua-5020	2	8	guided	guide	VERB
aiua-5020	2	9	robotic	robotic	ADJ
aiua-5020	2	10	urology	urology	NOUN
aiua-5020	2	11	.	.	PUNCT
aiua-5020	3	1	results	result	NOUN
aiua-5020	3	2	:	:	PUNCT
aiua-5020	3	3	current	current	ADJ
aiua-5020	3	4	literature	literature	NOUN
aiua-5020	3	5	in	in	ADP
aiua-5020	3	6	image	image	NOUN
aiua-5020	3	7	-	-	PUNCT
aiua-5020	3	8	guided	guide	VERB
aiua-5020	3	9	robotic	robotic	ADJ
aiua-5020	3	10	urology	urology	NOUN
aiua-5020	3	11	with	with	ADP
aiua-5020	3	12	its	its	PRON
aiua-5020	3	13	use	use	NOUN
aiua-5020	3	14	in	in	ADP
aiua-5020	3	15	robot	robot	NOUN
aiua-5020	3	16	assisted	assist	VERB
aiua-5020	3	17	radical	radical	ADJ
aiua-5020	3	18	prostatectomy	prostatectomy	NOUN
aiua-5020	3	19	and	and	CCONJ
aiua-5020	3	20	robot	robot	NOUN
aiua-5020	3	21	assisted	assist	VERB
aiua-5020	3	22	partial	partial	ADJ
aiua-5020	3	23	nephrectomy	nephrectomy	NOUN
aiua-5020	3	24	are	be	AUX
aiua-5020	3	25	shown	show	VERB
aiua-5020	3	26	.	.	PUNCT
aiua-5020	4	1	conclusions	conclusion	NOUN
aiua-5020	4	2	:	:	PUNCT
aiua-5020	4	3	image	image	NOUN
aiua-5020	4	4	guided	guide	VERB
aiua-5020	4	5	surgery	surgery	NOUN
aiua-5020	4	6	can	can	AUX
aiua-5020	4	7	be	be	AUX
aiua-5020	4	8	a	a	DET
aiua-5020	4	9	useful	useful	ADJ
aiua-5020	4	10	aid	aid	NOUN
aiua-5020	4	11	to	to	PART
aiua-5020	4	12	improve	improve	VERB
aiua-5020	4	13	visualisation	visualisation	NOUN
aiua-5020	4	14	of	of	ADP
aiua-5020	4	15	anatomy	anatomy	NOUN
aiua-5020	4	16	and	and	CCONJ
aiua-5020	4	17	subsurface	subsurface	NOUN
aiua-5020	4	18	structures	structure	NOUN
aiua-5020	4	19	during	during	ADP
aiua-5020	4	20	minimally	minimally	ADV
aiua-5020	4	21	invasive	invasive	ADJ
aiua-5020	4	22	surgery	surgery	NOUN
aiua-5020	4	23	.	.	PUNCT
aiua-5020	5	1	soft	soft	ADJ
aiua-5020	5	2	-	-	PUNCT
aiua-5020	5	3	tissue	tissue	NOUN
aiua-5020	5	4	deformation	deformation	NOUN
aiua-5020	5	5	makes	make	VERB
aiua-5020	5	6	it	it	PRON
aiua-5020	5	7	difficult	difficult	ADJ
aiua-5020	5	8	to	to	PART
aiua-5020	5	9	implement	implement	VERB
aiua-5020	5	10	igs	igs	PROPN
aiua-5020	5	11	in	in	ADP
aiua-5020	5	12	urology	urology	NOUN
aiua-5020	5	13	but	but	CCONJ
aiua-5020	5	14	current	current	ADJ
aiua-5020	5	15	studies	study	NOUN
aiua-5020	5	16	have	have	AUX
aiua-5020	5	17	shown	show	VERB
aiua-5020	5	18	an	an	DET
aiua-5020	5	19	attempt	attempt	NOUN
aiua-5020	5	20	to	to	PART
aiua-5020	5	21	address	address	VERB
aiua-5020	5	22	this	this	DET
aiua-5020	5	23	issue	issue	NOUN
aiua-5020	5	24	.	.	PUNCT
aiua-5020	6	1	the	the	DET
aiua-5020	6	2	feasibility	feasibility	NOUN
aiua-5020	6	3	of	of	ADP
aiua-5020	6	4	igs	igs	PROPN
aiua-5020	6	5	requires	require	VERB
aiua-5020	6	6	randomised	randomise	VERB
aiua-5020	6	7	control	control	NOUN
aiua-5020	6	8	trials	trial	NOUN
aiua-5020	6	9	assessing	assess	VERB
aiua-5020	6	10	in	in	ADP
aiua-5020	6	11	particular	particular	ADJ
aiua-5020	6	12	its	its	PRON
aiua-5020	6	13	accuracy	accuracy	NOUN
aiua-5020	6	14	and	and	CCONJ
aiua-5020	6	15	affect	affect	VERB
aiua-5020	6	16	on	on	ADP
aiua-5020	6	17	clinical	clinical	ADJ
aiua-5020	6	18	outcome	outcome	NOUN
aiua-5020	6	19	.	.	PUNCT
aiua-5020	7	1	key	key	ADJ
aiua-5020	7	2	words	word	NOUN
aiua-5020	7	3	:	:	PUNCT
aiua-5020	7	4	robotic	robotic	ADJ
aiua-5020	7	5	;	;	PUNCT
aiua-5020	7	6	iimage	iimage	NOUN
aiua-5020	7	7	-	-	PUNCT
aiua-5020	7	8	guided	guide	VERB
aiua-5020	7	9	surgery	surgery	NOUN
aiua-5020	7	10	,	,	PUNCT
aiua-5020	7	11	registration	registration	NOUN
aiua-5020	7	12	;	;	PUNCT
aiua-5020	7	13	tracking	tracking	NOUN
aiua-5020	7	14	;	;	PUNCT
aiua-5020	7	15	llocalisation	llocalisation	NOUN
aiua-5020	7	16	error	error	NOUN
aiua-5020	7	17	;	;	PUNCT
aiua-5020	7	18	augmented	augment	VERB
aiua-5020	7	19	reality	reality	NOUN
aiua-5020	7	20	.	.	PUNCT
aiua-5020	7	21	submitted	submit	VERB
aiua-5020	7	22	6	6	NUM
aiua-5020	7	23	april	april	PROPN
aiua-5020	7	24	2014	2014	NUM
aiua-5020	7	25	;	;	PUNCT
aiua-5020	7	26	accepted	accept	VERB
aiua-5020	7	27	30	30	NUM
aiua-5020	7	28	september	september	PROPN
aiua-5020	7	29	2014	2014	NUM
aiua-5020	7	30	summary	summary	NOUN
aiua-5020	7	31	no	no	DET
aiua-5020	7	32	conflict	conflict	NOUN
aiua-5020	7	33	of	of	ADP
aiua-5020	7	34	interest	interest	NOUN
aiua-5020	7	35	declared	declare	VERB
aiua-5020	7	36	.	.	PUNCT
aiua-5020	8	1	intra	intra	ADJ
aiua-5020	8	2	-	-	ADJ
aiua-5020	8	3	operatively	operatively	ADV
aiua-5020	8	4	.	.	PUNCT
aiua-5020	9	1	this	this	DET
aiua-5020	9	2	article	article	NOUN
aiua-5020	9	3	discusses	discuss	VERB
aiua-5020	9	4	the	the	DET
aiua-5020	9	5	concept	concept	NOUN
aiua-5020	9	6	of	of	ADP
aiua-5020	9	7	igs	igs	PROPN
aiua-5020	9	8	and	and	CCONJ
aiua-5020	9	9	its	its	PRON
aiua-5020	9	10	effectiveness	effectiveness	NOUN
aiua-5020	9	11	in	in	ADP
aiua-5020	9	12	the	the	DET
aiua-5020	9	13	clinical	clinical	ADJ
aiua-5020	9	14	urology	urology	NOUN
aiua-5020	9	15	.	.	PUNCT
aiua-5020	10	1	the	the	DET
aiua-5020	10	2	evolution	evolution	NOUN
aiua-5020	10	3	of	of	ADP
aiua-5020	10	4	igs	igs	PROPN
aiua-5020	10	5	the	the	DET
aiua-5020	10	6	advent	advent	NOUN
aiua-5020	10	7	of	of	ADP
aiua-5020	10	8	igs	igs	PROPN
aiua-5020	10	9	began	begin	VERB
aiua-5020	10	10	in	in	ADP
aiua-5020	10	11	the	the	DET
aiua-5020	10	12	neurosurgical	neurosurgical	ADJ
aiua-5020	10	13	field	field	NOUN
aiua-5020	10	14	.	.	PUNCT
aiua-5020	11	1	minimally	minimally	ADV
aiua-5020	11	2	invasive	invasive	ADJ
aiua-5020	11	3	techniques	technique	NOUN
aiua-5020	11	4	were	be	AUX
aiua-5020	11	5	developed	develop	VERB
aiua-5020	11	6	to	to	PART
aiua-5020	11	7	overcome	overcome	VERB
aiua-5020	11	8	the	the	DET
aiua-5020	11	9	high	high	ADJ
aiua-5020	11	10	-	-	PUNCT
aiua-5020	11	11	risk	risk	NOUN
aiua-5020	11	12	of	of	ADP
aiua-5020	11	13	brain	brain	NOUN
aiua-5020	11	14	injury	injury	NOUN
aiua-5020	11	15	sustained	sustain	VERB
aiua-5020	11	16	during	during	ADP
aiua-5020	11	17	open	open	ADJ
aiua-5020	11	18	neurosurgical	neurosurgical	ADJ
aiua-5020	11	19	procedures	procedure	NOUN
aiua-5020	11	20	.	.	PUNCT
aiua-5020	12	1	by	by	ADP
aiua-5020	12	2	adapting	adapt	VERB
aiua-5020	12	3	various	various	ADJ
aiua-5020	12	4	imaging	imaging	NOUN
aiua-5020	12	5	modalities	modality	NOUN
aiua-5020	12	6	,	,	PUNCT
aiua-5020	12	7	it	it	PRON
aiua-5020	12	8	became	become	VERB
aiua-5020	12	9	possible	possible	ADJ
aiua-5020	12	10	to	to	PART
aiua-5020	12	11	guide	guide	VERB
aiua-5020	12	12	the	the	DET
aiua-5020	12	13	surgery	surgery	NOUN
aiua-5020	12	14	intraoperatively	intraoperatively	ADV
aiua-5020	12	15	and	and	CCONJ
aiua-5020	12	16	hence	hence	ADV
aiua-5020	12	17	improve	improve	VERB
aiua-5020	12	18	the	the	DET
aiua-5020	12	19	system	system	NOUN
aiua-5020	12	20	accuracy	accuracy	NOUN
aiua-5020	12	21	(	(	PUNCT
aiua-5020	12	22	3	3	NUM
aiua-5020	12	23	)	)	PUNCT
aiua-5020	12	24	.	.	PUNCT
aiua-5020	13	1	image	image	NOUN
aiua-5020	13	2	-	-	PUNCT
aiua-5020	13	3	guided	guide	VERB
aiua-5020	13	4	neurosurgery	neurosurgery	NOUN
aiua-5020	13	5	uses	use	VERB
aiua-5020	13	6	pre	pre	ADJ
aiua-5020	13	7	-	-	ADJ
aiua-5020	13	8	operative	operative	ADJ
aiua-5020	13	9	mri	mri	NOUN
aiua-5020	13	10	or	or	CCONJ
aiua-5020	13	11	ct	ct	NUM
aiua-5020	13	12	images	image	NOUN
aiua-5020	13	13	of	of	ADP
aiua-5020	13	14	the	the	DET
aiua-5020	13	15	patient	patient	NOUN
aiua-5020	13	16	’s	’s	PART
aiua-5020	13	17	brain	brain	NOUN
aiua-5020	13	18	,	,	PUNCT
aiua-5020	13	19	which	which	PRON
aiua-5020	13	20	show	show	VERB
aiua-5020	13	21	localisation	localisation	NOUN
aiua-5020	13	22	of	of	ADP
aiua-5020	13	23	the	the	DET
aiua-5020	13	24	tumour	tumour	NOUN
aiua-5020	13	25	lesion	lesion	NOUN
aiua-5020	13	26	to	to	PART
aiua-5020	13	27	reconstruct	reconstruct	VERB
aiua-5020	13	28	a	a	DET
aiua-5020	13	29	3d	3d	NUM
aiua-5020	13	30	model	model	NOUN
aiua-5020	13	31	of	of	ADP
aiua-5020	13	32	the	the	DET
aiua-5020	13	33	patient	patient	NOUN
aiua-5020	13	34	’s	’s	PART
aiua-5020	13	35	anatomy	anatomy	NOUN
aiua-5020	13	36	.	.	PUNCT
aiua-5020	14	1	the	the	DET
aiua-5020	14	2	surgeon	surgeon	NOUN
aiua-5020	14	3	can	can	AUX
aiua-5020	14	4	then	then	ADV
aiua-5020	14	5	plan	plan	VERB
aiua-5020	14	6	the	the	DET
aiua-5020	14	7	procedure	procedure	NOUN
aiua-5020	14	8	,	,	PUNCT
aiua-5020	14	9	viewing	view	VERB
aiua-5020	14	10	it	it	PRON
aiua-5020	14	11	from	from	ADP
aiua-5020	14	12	different	different	ADJ
aiua-5020	14	13	angles	angle	NOUN
aiua-5020	14	14	and	and	CCONJ
aiua-5020	14	15	deciding	decide	VERB
aiua-5020	14	16	on	on	ADP
aiua-5020	14	17	the	the	DET
aiua-5020	14	18	exact	exact	ADJ
aiua-5020	14	19	point	point	NOUN
aiua-5020	14	20	of	of	ADP
aiua-5020	14	21	entry	entry	NOUN
aiua-5020	14	22	,	,	PUNCT
aiua-5020	14	23	relative	relative	ADJ
aiua-5020	14	24	to	to	ADP
aiua-5020	14	25	other	other	ADJ
aiua-5020	14	26	important	important	ADJ
aiua-5020	14	27	structures	structure	NOUN
aiua-5020	14	28	,	,	PUNCT
aiua-5020	14	29	such	such	ADJ
aiua-5020	14	30	as	as	ADP
aiua-5020	14	31	the	the	DET
aiua-5020	14	32	brainstem	brainstem	NOUN
aiua-5020	14	33	.	.	PUNCT
aiua-5020	15	1	also	also	ADV
aiua-5020	15	2	,	,	PUNCT
aiua-5020	15	3	instruments	instrument	NOUN
aiua-5020	15	4	used	use	VERB
aiua-5020	15	5	during	during	ADP
aiua-5020	15	6	the	the	DET
aiua-5020	15	7	procedure	procedure	NOUN
aiua-5020	15	8	can	can	AUX
aiua-5020	15	9	be	be	AUX
aiua-5020	15	10	tracked	track	VERB
aiua-5020	15	11	in	in	ADP
aiua-5020	15	12	real	real	ADJ
aiua-5020	15	13	time	time	NOUN
aiua-5020	15	14	to	to	PART
aiua-5020	15	15	avoid	avoid	VERB
aiua-5020	15	16	damage	damage	NOUN
aiua-5020	15	17	to	to	ADP
aiua-5020	15	18	other	other	ADJ
aiua-5020	15	19	tissue	tissue	NOUN
aiua-5020	15	20	(	(	PUNCT
aiua-5020	15	21	3	3	NUM
aiua-5020	15	22	)	)	PUNCT
aiua-5020	15	23	.	.	PUNCT
aiua-5020	16	1	neurosurgical	neurosurgical	ADJ
aiua-5020	16	2	procedures	procedure	NOUN
aiua-5020	16	3	,	,	PUNCT
aiua-5020	16	4	which	which	PRON
aiua-5020	16	5	have	have	AUX
aiua-5020	16	6	shown	show	VERB
aiua-5020	16	7	success	success	NOUN
aiua-5020	16	8	using	use	VERB
aiua-5020	16	9	this	this	DET
aiua-5020	16	10	technique	technique	NOUN
aiua-5020	16	11	include	include	NOUN
aiua-5020	16	12	,	,	PUNCT
aiua-5020	16	13	stereotactic	stereotactic	ADJ
aiua-5020	16	14	biopsy	biopsy	NOUN
aiua-5020	16	15	,	,	PUNCT
aiua-5020	16	16	shunt	shunt	NOUN
aiua-5020	16	17	placement	placement	NOUN
aiua-5020	16	18	and	and	CCONJ
aiua-5020	16	19	craniotomy	craniotomy	NOUN
aiua-5020	16	20	.	.	PUNCT
aiua-5020	17	1	adapting	adapt	VERB
aiua-5020	17	2	igs	ig	NOUN
aiua-5020	17	3	for	for	ADP
aiua-5020	17	4	specialities	speciality	NOUN
aiua-5020	17	5	other	other	ADJ
aiua-5020	17	6	than	than	ADP
aiua-5020	17	7	neurosurgery	neurosurgery	NOUN
aiua-5020	17	8	has	have	AUX
aiua-5020	17	9	been	be	AUX
aiua-5020	17	10	challenging	challenge	VERB
aiua-5020	17	11	.	.	PUNCT
aiua-5020	18	1	however	however	ADV
aiua-5020	18	2	,	,	PUNCT
aiua-5020	18	3	early	early	ADJ
aiua-5020	18	4	studies	study	NOUN
aiua-5020	18	5	of	of	ADP
aiua-5020	18	6	igs	igs	PROPN
aiua-5020	18	7	in	in	ADP
aiua-5020	18	8	fields	field	NOUN
aiua-5020	18	9	such	such	ADJ
aiua-5020	18	10	as	as	ADP
aiua-5020	18	11	cardiac	cardiac	ADJ
aiua-5020	18	12	surgery	surgery	NOUN
aiua-5020	18	13	and	and	CCONJ
aiua-5020	18	14	liver	liver	NOUN
aiua-5020	18	15	surgery	surgery	NOUN
aiua-5020	18	16	have	have	AUX
aiua-5020	18	17	shown	show	VERB
aiua-5020	18	18	promise	promise	NOUN
aiua-5020	18	19	.	.	PUNCT
aiua-5020	19	1	in	in	ADP
aiua-5020	19	2	particular	particular	ADJ
aiua-5020	19	3	with	with	ADP
aiua-5020	19	4	the	the	DET
aiua-5020	19	5	rapid	rapid	ADJ
aiua-5020	19	6	development	development	NOUN
aiua-5020	19	7	of	of	ADP
aiua-5020	19	8	robotic	robotic	ADJ
aiua-5020	19	9	urology	urology	NOUN
aiua-5020	19	10	,	,	PUNCT
aiua-5020	19	11	there	there	PRON
aiua-5020	19	12	has	have	AUX
aiua-5020	19	13	been	be	AUX
aiua-5020	19	14	a	a	DET
aiua-5020	19	15	need	need	NOUN
aiua-5020	19	16	for	for	ADP
aiua-5020	19	17	better	well	ADJ
aiua-5020	19	18	visualisation	visualisation	NOUN
aiua-5020	19	19	.	.	PUNCT
aiua-5020	20	1	hence	hence	ADV
aiua-5020	20	2	the	the	DET
aiua-5020	20	3	ability	ability	NOUN
aiua-5020	20	4	to	to	PART
aiua-5020	20	5	combine	combine	VERB
aiua-5020	20	6	igs	igs	PROPN
aiua-5020	20	7	and	and	CCONJ
aiua-5020	20	8	robotics	robotic	NOUN
aiua-5020	20	9	could	could	AUX
aiua-5020	20	10	provide	provide	VERB
aiua-5020	20	11	an	an	DET
aiua-5020	20	12	essential	essential	ADJ
aiua-5020	20	13	technique	technique	NOUN
aiua-5020	20	14	for	for	ADP
aiua-5020	20	15	the	the	DET
aiua-5020	20	16	future	future	ADJ
aiua-5020	20	17	direction	direction	NOUN
aiua-5020	20	18	of	of	ADP
aiua-5020	20	19	urology	urology	NOUN
aiua-5020	20	20	(	(	PUNCT
aiua-5020	20	21	4	4	NUM
aiua-5020	20	22	)	)	PUNCT
aiua-5020	20	23	.	.	PUNCT
aiua-5020	21	1	fundamental	fundamental	ADJ
aiua-5020	21	2	components	component	NOUN
aiua-5020	21	3	of	of	ADP
aiua-5020	21	4	igs	igs	PROPN
aiua-5020	21	5	igs	igs	PROPN
aiua-5020	21	6	relies	rely	VERB
aiua-5020	21	7	on	on	ADP
aiua-5020	21	8	several	several	ADJ
aiua-5020	21	9	key	key	ADJ
aiua-5020	21	10	engineering	engineering	NOUN
aiua-5020	21	11	concepts	concept	NOUN
aiua-5020	21	12	,	,	PUNCT
aiua-5020	21	13	which	which	PRON
aiua-5020	21	14	must	must	AUX
aiua-5020	21	15	all	all	ADV
aiua-5020	21	16	be	be	AUX
aiua-5020	21	17	synchronized	synchronize	VERB
aiua-5020	21	18	for	for	SCONJ
aiua-5020	21	19	the	the	DET
aiua-5020	21	20	system	system	NOUN
aiua-5020	21	21	to	to	PART
aiua-5020	21	22	work	work	VERB
aiua-5020	21	23	.	.	PUNCT
aiua-5020	22	1	these	these	PRON
aiua-5020	22	2	are	be	AUX
aiua-5020	22	3	:	:	PUNCT
aiua-5020	22	4	1	1	X
aiua-5020	22	5	)	)	PUNCT
aiua-5020	22	6	imaging	image	VERB
aiua-5020	22	7	2	2	NUM
aiua-5020	22	8	)	)	PUNCT
aiua-5020	22	9	image	image	NOUN
aiua-5020	22	10	processing	processing	NOUN
aiua-5020	22	11	(	(	PUNCT
aiua-5020	22	12	segmentation	segmentation	NOUN
aiua-5020	22	13	)	)	PUNCT
aiua-5020	22	14	3	3	NUM
aiua-5020	22	15	)	)	PUNCT
aiua-5020	22	16	registration	registration	NOUN
aiua-5020	22	17	and	and	CCONJ
aiua-5020	22	18	tracking	track	VERB
aiua-5020	22	19	4	4	NUM
aiua-5020	22	20	)	)	PUNCT
aiua-5020	22	21	user	user	NOUN
aiua-5020	22	22	interface	interface	NOUN
aiua-5020	22	23	and	and	CCONJ
aiua-5020	22	24	display	display	VERB
aiua-5020	22	25	1	1	NUM
aiua-5020	22	26	)	)	PUNCT
aiua-5020	22	27	imaging	imaging	NOUN
aiua-5020	22	28	there	there	PRON
aiua-5020	22	29	are	be	VERB
aiua-5020	22	30	several	several	ADJ
aiua-5020	22	31	different	different	ADJ
aiua-5020	22	32	imaging	imaging	NOUN
aiua-5020	22	33	modalities	modality	NOUN
aiua-5020	22	34	.	.	PUNCT
aiua-5020	23	1	tissue	tissue	NOUN
aiua-5020	23	2	penetration	penetration	NOUN
aiua-5020	23	3	,	,	PUNCT
aiua-5020	23	4	spatial	spatial	ADJ
aiua-5020	23	5	resolution	resolution	NOUN
aiua-5020	23	6	(	(	PUNCT
aiua-5020	23	7	ability	ability	NOUN
aiua-5020	23	8	to	to	PART
aiua-5020	23	9	distinguish	distinguish	VERB
aiua-5020	23	10	two	two	NUM
aiua-5020	23	11	doi	doi	NOUN
aiua-5020	23	12	:	:	PUNCT
aiua-5020	23	13	10.4081	10.4081	NUM
aiua-5020	23	14	/	/	SYM
aiua-5020	23	15	aiua.2014.4.245	aiua.2014.4.245	ADJ
aiua-5020	23	16	introduction	introduction	NOUN
aiua-5020	23	17	the	the	DET
aiua-5020	23	18	benefits	benefit	NOUN
aiua-5020	23	19	of	of	ADP
aiua-5020	23	20	minimally	minimally	ADV
aiua-5020	23	21	invasive	invasive	ADJ
aiua-5020	23	22	surgery	surgery	NOUN
aiua-5020	23	23	include	include	VERB
aiua-5020	23	24	shorter	short	ADJ
aiua-5020	23	25	hospital	hospital	NOUN
aiua-5020	23	26	stay	stay	NOUN
aiua-5020	23	27	,	,	PUNCT
aiua-5020	23	28	decreased	decrease	VERB
aiua-5020	23	29	intra	intra	ADJ
aiua-5020	23	30	-	-	ADJ
aiua-5020	23	31	operative	operative	ADJ
aiua-5020	23	32	blood	blood	NOUN
aiua-5020	23	33	loss	loss	NOUN
aiua-5020	23	34	and	and	CCONJ
aiua-5020	23	35	less	less	ADJ
aiua-5020	23	36	post	post	ADJ
aiua-5020	23	37	-	-	ADJ
aiua-5020	23	38	operative	operative	ADJ
aiua-5020	23	39	pain	pain	NOUN
aiua-5020	23	40	when	when	SCONJ
aiua-5020	23	41	compared	compare	VERB
aiua-5020	23	42	to	to	ADP
aiua-5020	23	43	conventional	conventional	ADJ
aiua-5020	23	44	open	open	ADJ
aiua-5020	23	45	surgery	surgery	NOUN
aiua-5020	23	46	.	.	PUNCT
aiua-5020	24	1	however	however	ADV
aiua-5020	24	2	,	,	PUNCT
aiua-5020	24	3	an	an	DET
aiua-5020	24	4	advantage	advantage	NOUN
aiua-5020	24	5	afforded	afford	VERB
aiua-5020	24	6	to	to	ADP
aiua-5020	24	7	the	the	DET
aiua-5020	24	8	open	open	ADJ
aiua-5020	24	9	surgical	surgical	ADJ
aiua-5020	24	10	technique	technique	NOUN
aiua-5020	24	11	is	be	AUX
aiua-5020	24	12	the	the	DET
aiua-5020	24	13	ability	ability	NOUN
aiua-5020	24	14	to	to	PART
aiua-5020	24	15	directly	directly	ADV
aiua-5020	24	16	visualise	visualise	VERB
aiua-5020	24	17	structures	structure	NOUN
aiua-5020	24	18	.	.	PUNCT
aiua-5020	25	1	in	in	ADP
aiua-5020	25	2	minimally	minimally	ADV
aiua-5020	25	3	invasive	invasive	ADJ
aiua-5020	25	4	surgery	surgery	NOUN
aiua-5020	25	5	,	,	PUNCT
aiua-5020	25	6	the	the	DET
aiua-5020	25	7	surgeon	surgeon	NOUN
aiua-5020	25	8	’s	’s	PART
aiua-5020	25	9	field	field	NOUN
aiua-5020	25	10	of	of	ADP
aiua-5020	25	11	view	view	NOUN
aiua-5020	25	12	becomes	become	VERB
aiua-5020	25	13	compromised	compromise	VERB
aiua-5020	25	14	as	as	SCONJ
aiua-5020	25	15	it	it	PRON
aiua-5020	25	16	is	be	AUX
aiua-5020	25	17	relies	rely	VERB
aiua-5020	25	18	on	on	ADP
aiua-5020	25	19	scoped	scope	VERB
aiua-5020	25	20	cameras	camera	NOUN
aiua-5020	25	21	to	to	PART
aiua-5020	25	22	produce	produce	VERB
aiua-5020	25	23	an	an	DET
aiua-5020	25	24	display	display	NOUN
aiua-5020	25	25	(	(	PUNCT
aiua-5020	25	26	1	1	NUM
aiua-5020	25	27	)	)	PUNCT
aiua-5020	25	28	.	.	PUNCT
aiua-5020	26	1	recent	recent	ADJ
aiua-5020	26	2	advances	advance	NOUN
aiua-5020	26	3	in	in	ADP
aiua-5020	26	4	image	image	NOUN
aiua-5020	26	5	-	-	PUNCT
aiua-5020	26	6	guided	guide	VERB
aiua-5020	26	7	surgery	surgery	NOUN
aiua-5020	26	8	(	(	PUNCT
aiua-5020	26	9	igs	igs	PROPN
aiua-5020	26	10	)	)	PUNCT
aiua-5020	26	11	may	may	AUX
aiua-5020	26	12	offer	offer	VERB
aiua-5020	26	13	a	a	DET
aiua-5020	26	14	solution	solution	NOUN
aiua-5020	26	15	to	to	PART
aiua-5020	26	16	improve	improve	VERB
aiua-5020	26	17	visualisation	visualisation	NOUN
aiua-5020	26	18	.	.	PUNCT
aiua-5020	27	1	igs	igs	PROPN
aiua-5020	27	2	technology	technology	PROPN
aiua-5020	27	3	merges	merge	VERB
aiua-5020	27	4	pre	pre	ADJ
aiua-5020	27	5	-	-	ADJ
aiua-5020	27	6	operative	operative	ADJ
aiua-5020	27	7	and/or	and/or	CCONJ
aiua-5020	27	8	intra	intra	ADJ
aiua-5020	27	9	-	-	ADJ
aiua-5020	27	10	operative	operative	ADJ
aiua-5020	27	11	images	image	NOUN
aiua-5020	27	12	in	in	ADP
aiua-5020	27	13	order	order	NOUN
aiua-5020	27	14	to	to	PART
aiua-5020	27	15	create	create	VERB
aiua-5020	27	16	a	a	DET
aiua-5020	27	17	3d	3d	ADJ
aiua-5020	27	18	reconstruction	reconstruction	NOUN
aiua-5020	27	19	of	of	ADP
aiua-5020	27	20	the	the	DET
aiua-5020	27	21	patient	patient	NOUN
aiua-5020	27	22	’s	’s	PART
aiua-5020	27	23	internal	internal	ADJ
aiua-5020	27	24	structures	structure	NOUN
aiua-5020	27	25	and	and	CCONJ
aiua-5020	27	26	subsurface	subsurface	NOUN
aiua-5020	27	27	anatomy	anatomy	NOUN
aiua-5020	27	28	.	.	PUNCT
aiua-5020	28	1	these	these	DET
aiua-5020	28	2	images	image	NOUN
aiua-5020	28	3	can	can	AUX
aiua-5020	28	4	be	be	AUX
aiua-5020	28	5	used	use	VERB
aiua-5020	28	6	alone	alone	ADJ
aiua-5020	28	7	with	with	ADP
aiua-5020	28	8	tracked	track	VERB
aiua-5020	28	9	surgical	surgical	ADJ
aiua-5020	28	10	instruments	instrument	NOUN
aiua-5020	28	11	or	or	CCONJ
aiua-5020	28	12	superimposed	superimpose	VERB
aiua-5020	28	13	over	over	ADP
aiua-5020	28	14	a	a	DET
aiua-5020	28	15	laparoscopic	laparoscopic	NOUN
aiua-5020	28	16	video	video	NOUN
aiua-5020	28	17	feed	feed	NOUN
aiua-5020	28	18	to	to	PART
aiua-5020	28	19	create	create	VERB
aiua-5020	28	20	a	a	DET
aiua-5020	28	21	display	display	NOUN
aiua-5020	28	22	referred	refer	VERB
aiua-5020	28	23	to	to	ADP
aiua-5020	28	24	as	as	ADP
aiua-5020	28	25	augmented	augment	VERB
aiua-5020	28	26	reality	reality	NOUN
aiua-5020	28	27	(	(	PUNCT
aiua-5020	28	28	ar	ar	NOUN
aiua-5020	28	29	)	)	PUNCT
aiua-5020	28	30	.	.	PUNCT
aiua-5020	29	1	the	the	DET
aiua-5020	29	2	principle	principle	ADJ
aiua-5020	29	3	benefit	benefit	NOUN
aiua-5020	29	4	of	of	ADP
aiua-5020	29	5	such	such	DET
aiua-5020	29	6	a	a	DET
aiua-5020	29	7	system	system	NOUN
aiua-5020	29	8	is	be	AUX
aiua-5020	29	9	the	the	DET
aiua-5020	29	10	ability	ability	NOUN
aiua-5020	29	11	to	to	PART
aiua-5020	29	12	see	see	VERB
aiua-5020	29	13	beyond	beyond	ADP
aiua-5020	29	14	the	the	DET
aiua-5020	29	15	surgical	surgical	ADJ
aiua-5020	29	16	plane	plane	NOUN
aiua-5020	29	17	and	and	CCONJ
aiua-5020	29	18	visualise	visualise	VERB
aiua-5020	29	19	internal	internal	ADJ
aiua-5020	29	20	structures	structure	NOUN
aiua-5020	29	21	such	such	ADJ
aiua-5020	29	22	as	as	ADP
aiua-5020	29	23	organs	organ	NOUN
aiua-5020	29	24	,	,	PUNCT
aiua-5020	29	25	tissues	tissue	NOUN
aiua-5020	29	26	,	,	PUNCT
aiua-5020	29	27	nerves	nerve	NOUN
aiua-5020	29	28	and	and	CCONJ
aiua-5020	29	29	muscle	muscle	NOUN
aiua-5020	29	30	(	(	PUNCT
aiua-5020	29	31	2	2	NUM
aiua-5020	29	32	)	)	PUNCT
aiua-5020	29	33	.	.	PUNCT
aiua-5020	30	1	the	the	DET
aiua-5020	30	2	use	use	NOUN
aiua-5020	30	3	of	of	ADP
aiua-5020	30	4	igs	igs	PROPN
aiua-5020	30	5	is	be	AUX
aiua-5020	30	6	currently	currently	ADV
aiua-5020	30	7	being	be	AUX
aiua-5020	30	8	explored	explore	VERB
aiua-5020	30	9	in	in	ADP
aiua-5020	30	10	a	a	DET
aiua-5020	30	11	number	number	NOUN
aiua-5020	30	12	of	of	ADP
aiua-5020	30	13	surgical	surgical	ADJ
aiua-5020	30	14	specialities	speciality	NOUN
aiua-5020	30	15	and	and	CCONJ
aiua-5020	30	16	aims	aim	VERB
aiua-5020	30	17	to	to	PART
aiua-5020	30	18	improve	improve	VERB
aiua-5020	30	19	surgical	surgical	ADJ
aiua-5020	30	20	accuracy	accuracy	NOUN
aiua-5020	30	21	as	as	ADV
aiua-5020	30	22	well	well	ADV
aiua-5020	30	23	as	as	ADP
aiua-5020	30	24	guide	guide	NOUN
aiua-5020	30	25	procedures	procedure	NOUN
aiua-5020	30	26	pervez_stesura	pervez_stesura	PRON
aiua-5020	30	27	seveso	seveso	VERB
aiua-5020	30	28	15/01/15	15/01/15	PROPN
aiua-5020	30	29	12:53	12:53	NUM
aiua-5020	30	30	pagina	pagina	NOUN
aiua-5020	30	31	245	245	NUM
aiua-5020	30	32	archivio	archivio	NOUN
aiua-5020	30	33	italiano	italiano	X
aiua-5020	30	34	di	di	X
aiua-5020	30	35	urologia	urologia	PROPN
aiua-5020	30	36	e	e	PROPN
aiua-5020	30	37	andrologia	andrologia	NOUN
aiua-5020	30	38	2014	2014	NUM
aiua-5020	30	39	;	;	PUNCT
aiua-5020	30	40	86	86	NUM
aiua-5020	30	41	,	,	PUNCT
aiua-5020	30	42	4	4	NUM
aiua-5020	30	43	anum	anum	PROPN
aiua-5020	30	44	pervez	pervez	PROPN
aiua-5020	30	45	,	,	PUNCT
aiua-5020	30	46	kamran	kamran	PROPN
aiua-5020	30	47	ahmed	ahmed	PROPN
aiua-5020	30	48	,	,	PUNCT
aiua-5020	30	49	stephen	stephen	PROPN
aiua-5020	30	50	thompson	thompson	PROPN
aiua-5020	30	51	,	,	PUNCT
aiua-5020	30	52	oussama	oussama	PROPN
aiua-5020	30	53	elhage	elhage	PROPN
aiua-5020	30	54	,	,	PUNCT
aiua-5020	30	55	m	m	PROPN
aiua-5020	30	56	shamim	shamim	PROPN
aiua-5020	30	57	khan	khan	PROPN
aiua-5020	30	58	,	,	PUNCT
aiua-5020	30	59	prokar	prokar	PROPN
aiua-5020	30	60	dasgupta	dasgupta	VERB
aiua-5020	30	61	246	246	NUM
aiua-5020	30	62	points	point	NOUN
aiua-5020	30	63	)	)	PUNCT
aiua-5020	30	64	and	and	CCONJ
aiua-5020	30	65	tissue	tissue	NOUN
aiua-5020	30	66	boundaries	boundary	NOUN
aiua-5020	30	67	(	(	PUNCT
aiua-5020	30	68	contrast	contrast	NOUN
aiua-5020	30	69	)	)	PUNCT
aiua-5020	30	70	are	be	AUX
aiua-5020	30	71	key	key	ADJ
aiua-5020	30	72	features	feature	NOUN
aiua-5020	30	73	when	when	SCONJ
aiua-5020	30	74	choosing	choose	VERB
aiua-5020	30	75	which	which	DET
aiua-5020	30	76	approach	approach	NOUN
aiua-5020	30	77	to	to	ADP
aiua-5020	30	78	use	use	VERB
aiua-5020	30	79	.	.	PUNCT
aiua-5020	31	1	optical	optical	ADJ
aiua-5020	31	2	imaging	imaging	NOUN
aiua-5020	31	3	has	have	VERB
aiua-5020	31	4	low	low	ADJ
aiua-5020	31	5	tissue	tissue	NOUN
aiua-5020	31	6	penetration	penetration	NOUN
aiua-5020	31	7	and	and	CCONJ
aiua-5020	31	8	therefore	therefore	ADV
aiua-5020	31	9	would	would	AUX
aiua-5020	31	10	not	not	PART
aiua-5020	31	11	be	be	AUX
aiua-5020	31	12	suitable	suitable	ADJ
aiua-5020	31	13	for	for	ADP
aiua-5020	31	14	igs	igs	PROPN
aiua-5020	31	15	.	.	PROPN
aiua-5020	32	1	ct	ct	PROPN
aiua-5020	32	2	,	,	PUNCT
aiua-5020	32	3	mri	mri	NOUN
aiua-5020	32	4	,	,	PUNCT
aiua-5020	32	5	x	x	NOUN
aiua-5020	32	6	-	-	NOUN
aiua-5020	32	7	ray	ray	NOUN
aiua-5020	32	8	and	and	CCONJ
aiua-5020	32	9	us	we	PRON
aiua-5020	32	10	on	on	ADP
aiua-5020	32	11	the	the	DET
aiua-5020	32	12	other	other	ADJ
aiua-5020	32	13	hand	hand	NOUN
aiua-5020	32	14	,	,	PUNCT
aiua-5020	32	15	have	have	VERB
aiua-5020	32	16	much	much	ADV
aiua-5020	32	17	better	well	ADJ
aiua-5020	32	18	penetration	penetration	NOUN
aiua-5020	32	19	of	of	ADP
aiua-5020	32	20	tissue	tissue	NOUN
aiua-5020	32	21	structures	structure	NOUN
aiua-5020	32	22	and	and	CCONJ
aiua-5020	32	23	are	be	AUX
aiua-5020	32	24	therefore	therefore	ADV
aiua-5020	32	25	more	more	ADV
aiua-5020	32	26	suitable	suitable	ADJ
aiua-5020	32	27	for	for	ADP
aiua-5020	32	28	igs	igs	PROPN
aiua-5020	32	29	.	.	PUNCT
aiua-5020	33	1	the	the	DET
aiua-5020	33	2	most	most	ADV
aiua-5020	33	3	commonly	commonly	ADV
aiua-5020	33	4	used	use	VERB
aiua-5020	33	5	techniques	technique	NOUN
aiua-5020	33	6	in	in	ADP
aiua-5020	33	7	igs	igs	PROPN
aiua-5020	33	8	and	and	CCONJ
aiua-5020	33	9	their	their	PRON
aiua-5020	33	10	attributes	attribute	NOUN
aiua-5020	33	11	are	be	AUX
aiua-5020	33	12	shown	show	VERB
aiua-5020	33	13	in	in	ADP
aiua-5020	33	14	table	table	NOUN
aiua-5020	33	15	1	1	NUM
aiua-5020	33	16	.	.	PUNCT
aiua-5020	34	1	along	along	ADP
aiua-5020	34	2	with	with	ADP
aiua-5020	34	3	the	the	DET
aiua-5020	34	4	quality	quality	NOUN
aiua-5020	34	5	of	of	ADP
aiua-5020	34	6	the	the	DET
aiua-5020	34	7	image	image	NOUN
aiua-5020	34	8	produced	produce	VERB
aiua-5020	34	9	,	,	PUNCT
aiua-5020	34	10	factors	factor	NOUN
aiua-5020	34	11	such	such	ADJ
aiua-5020	34	12	as	as	ADP
aiua-5020	34	13	cost	cost	NOUN
aiua-5020	34	14	,	,	PUNCT
aiua-5020	34	15	radiation	radiation	NOUN
aiua-5020	34	16	exposure	exposure	NOUN
aiua-5020	34	17	and	and	CCONJ
aiua-5020	34	18	feasibility	feasibility	NOUN
aiua-5020	34	19	of	of	ADP
aiua-5020	34	20	use	use	NOUN
aiua-5020	34	21	within	within	ADP
aiua-5020	34	22	the	the	DET
aiua-5020	34	23	operating	operating	NOUN
aiua-5020	34	24	theatre	theatre	NOUN
aiua-5020	34	25	will	will	AUX
aiua-5020	34	26	all	all	ADV
aiua-5020	34	27	come	come	VERB
aiua-5020	34	28	into	into	ADP
aiua-5020	34	29	play	play	NOUN
aiua-5020	34	30	when	when	SCONJ
aiua-5020	34	31	creating	create	VERB
aiua-5020	34	32	an	an	DET
aiua-5020	34	33	igs	igs	NOUN
aiua-5020	34	34	system	system	NOUN
aiua-5020	34	35	(	(	PUNCT
aiua-5020	34	36	1	1	NUM
aiua-5020	34	37	,	,	PUNCT
aiua-5020	34	38	5	5	NUM
aiua-5020	34	39	,	,	PUNCT
aiua-5020	34	40	6	6	NUM
aiua-5020	34	41	)	)	PUNCT
aiua-5020	34	42	.	.	PUNCT
aiua-5020	35	1	2	2	X
aiua-5020	35	2	)	)	PUNCT
aiua-5020	35	3	image	image	NOUN
aiua-5020	35	4	processing	processing	NOUN
aiua-5020	35	5	once	once	ADV
aiua-5020	35	6	the	the	DET
aiua-5020	35	7	pre	pre	ADJ
aiua-5020	35	8	-	-	ADJ
aiua-5020	35	9	operative	operative	ADJ
aiua-5020	35	10	images	image	NOUN
aiua-5020	35	11	are	be	AUX
aiua-5020	35	12	acquired	acquire	VERB
aiua-5020	35	13	,	,	PUNCT
aiua-5020	35	14	a	a	DET
aiua-5020	35	15	3d	3d	NUM
aiua-5020	35	16	model	model	NOUN
aiua-5020	35	17	of	of	ADP
aiua-5020	35	18	the	the	DET
aiua-5020	35	19	patient	patient	NOUN
aiua-5020	35	20	’s	’s	PART
aiua-5020	35	21	anatomy	anatomy	NOUN
aiua-5020	35	22	can	can	AUX
aiua-5020	35	23	be	be	AUX
aiua-5020	35	24	reconstructed	reconstruct	VERB
aiua-5020	35	25	using	use	VERB
aiua-5020	35	26	segments	segment	NOUN
aiua-5020	35	27	of	of	ADP
aiua-5020	35	28	the	the	DET
aiua-5020	35	29	data	datum	NOUN
aiua-5020	35	30	.	.	PUNCT
aiua-5020	36	1	at	at	ADP
aiua-5020	36	2	present	present	ADJ
aiua-5020	36	3	,	,	PUNCT
aiua-5020	36	4	the	the	DET
aiua-5020	36	5	majority	majority	NOUN
aiua-5020	36	6	of	of	ADP
aiua-5020	36	7	cases	case	NOUN
aiua-5020	36	8	require	require	VERB
aiua-5020	36	9	manual	manual	ADJ
aiua-5020	36	10	segmentation	segmentation	NOUN
aiua-5020	36	11	by	by	ADP
aiua-5020	36	12	radiologists	radiologist	NOUN
aiua-5020	36	13	.	.	PUNCT
aiua-5020	37	1	however	however	ADV
aiua-5020	37	2	,	,	PUNCT
aiua-5020	37	3	the	the	DET
aiua-5020	37	4	need	need	NOUN
aiua-5020	37	5	for	for	ADP
aiua-5020	37	6	faster	fast	ADJ
aiua-5020	37	7	automated	automate	VERB
aiua-5020	37	8	segmentation	segmentation	NOUN
aiua-5020	37	9	is	be	AUX
aiua-5020	37	10	becoming	become	VERB
aiua-5020	37	11	more	more	ADV
aiua-5020	37	12	evident	evident	ADJ
aiua-5020	37	13	and	and	CCONJ
aiua-5020	37	14	in	in	ADP
aiua-5020	37	15	particular	particular	ADJ
aiua-5020	37	16	as	as	ADP
aiua-5020	37	17	a	a	DET
aiua-5020	37	18	means	means	NOUN
aiua-5020	37	19	to	to	PART
aiua-5020	37	20	overcome	overcome	VERB
aiua-5020	37	21	the	the	DET
aiua-5020	37	22	potential	potential	NOUN
aiua-5020	37	23	for	for	ADP
aiua-5020	37	24	human	human	ADJ
aiua-5020	37	25	error	error	NOUN
aiua-5020	37	26	(	(	PUNCT
aiua-5020	37	27	7	7	NUM
aiua-5020	37	28	)	)	PUNCT
aiua-5020	37	29	.	.	PUNCT
aiua-5020	38	1	3	3	X
aiua-5020	38	2	)	)	PUNCT
aiua-5020	38	3	registration	registration	NOUN
aiua-5020	38	4	and	and	CCONJ
aiua-5020	38	5	tracking	tracking	NOUN
aiua-5020	38	6	registration	registration	NOUN
aiua-5020	38	7	aligns	align	VERB
aiua-5020	38	8	pre	pre	ADJ
aiua-5020	38	9	-	-	ADJ
aiua-5020	38	10	operative	operative	ADJ
aiua-5020	38	11	images	image	NOUN
aiua-5020	38	12	with	with	ADP
aiua-5020	38	13	the	the	DET
aiua-5020	38	14	patients	patient	NOUN
aiua-5020	38	15	anatomy	anatomy	VERB
aiua-5020	38	16	to	to	PART
aiua-5020	38	17	create	create	VERB
aiua-5020	38	18	a	a	DET
aiua-5020	38	19	3d	3d	NUM
aiua-5020	38	20	coordinated	coordinate	VERB
aiua-5020	38	21	space	space	NOUN
aiua-5020	38	22	(	(	PUNCT
aiua-5020	38	23	8)	8)	NUM
aiua-5020	38	24	.	.	PUNCT
aiua-5020	39	1	it	it	PRON
aiua-5020	39	2	is	be	AUX
aiua-5020	39	3	achieved	achieve	VERB
aiua-5020	39	4	by	by	ADP
aiua-5020	39	5	matching	match	VERB
aiua-5020	39	6	specific	specific	ADJ
aiua-5020	39	7	anatomical	anatomical	ADJ
aiua-5020	39	8	or	or	CCONJ
aiua-5020	39	9	fiduciary	fiduciary	ADJ
aiua-5020	39	10	landmarks	landmark	NOUN
aiua-5020	39	11	on	on	ADP
aiua-5020	39	12	the	the	DET
aiua-5020	39	13	imaging	imaging	NOUN
aiua-5020	39	14	with	with	ADP
aiua-5020	39	15	the	the	DET
aiua-5020	39	16	corresponding	corresponding	ADJ
aiua-5020	39	17	points	point	NOUN
aiua-5020	39	18	on	on	ADP
aiua-5020	39	19	the	the	DET
aiua-5020	39	20	patient	patient	NOUN
aiua-5020	39	21	.	.	PUNCT
aiua-5020	40	1	for	for	ADP
aiua-5020	40	2	example	example	NOUN
aiua-5020	40	3	,	,	PUNCT
aiua-5020	40	4	the	the	DET
aiua-5020	40	5	tragus	tragus	NOUN
aiua-5020	40	6	of	of	ADP
aiua-5020	40	7	the	the	DET
aiua-5020	40	8	ear	ear	NOUN
aiua-5020	40	9	or	or	CCONJ
aiua-5020	40	10	the	the	DET
aiua-5020	40	11	outer	outer	ADJ
aiua-5020	40	12	canthi	canthi	NOUN
aiua-5020	40	13	of	of	ADP
aiua-5020	40	14	the	the	DET
aiua-5020	40	15	eye	eye	NOUN
aiua-5020	40	16	are	be	AUX
aiua-5020	40	17	commonly	commonly	ADV
aiua-5020	40	18	used	use	VERB
aiua-5020	40	19	(	(	PUNCT
aiua-5020	40	20	9	9	NUM
aiua-5020	40	21	)	)	PUNCT
aiua-5020	40	22	.	.	PUNCT
aiua-5020	41	1	these	these	DET
aiua-5020	41	2	images	image	NOUN
aiua-5020	41	3	can	can	AUX
aiua-5020	41	4	also	also	ADV
aiua-5020	41	5	be	be	AUX
aiua-5020	41	6	registered	register	VERB
aiua-5020	41	7	with	with	ADP
aiua-5020	41	8	intra	intra	ADJ
aiua-5020	41	9	-	-	ADJ
aiua-5020	41	10	operative	operative	ADJ
aiua-5020	41	11	images	image	NOUN
aiua-5020	41	12	or	or	CCONJ
aiua-5020	41	13	in	in	ADP
aiua-5020	41	14	the	the	DET
aiua-5020	41	15	case	case	NOUN
aiua-5020	41	16	of	of	ADP
aiua-5020	41	17	a	a	DET
aiua-5020	41	18	laparoscopic	laparoscopic	NOUN
aiua-5020	41	19	procedure	procedure	NOUN
aiua-5020	41	20	,	,	PUNCT
aiua-5020	41	21	superimposed	superimpose	VERB
aiua-5020	41	22	over	over	ADP
aiua-5020	41	23	a	a	DET
aiua-5020	41	24	video	video	NOUN
aiua-5020	41	25	feed	feed	NOUN
aiua-5020	41	26	.	.	PUNCT
aiua-5020	42	1	image	image	NOUN
aiua-5020	42	2	registration	registration	NOUN
aiua-5020	42	3	is	be	AUX
aiua-5020	42	4	classified	classify	VERB
aiua-5020	42	5	into	into	ADP
aiua-5020	42	6	rigid	rigid	ADJ
aiua-5020	42	7	and	and	CCONJ
aiua-5020	42	8	non	non	ADJ
aiua-5020	42	9	-	-	ADJ
aiua-5020	42	10	rigid	rigid	ADJ
aiua-5020	42	11	categories	category	NOUN
aiua-5020	42	12	.	.	PUNCT
aiua-5020	43	1	a	a	DET
aiua-5020	43	2	rigid	rigid	ADJ
aiua-5020	43	3	system	system	NOUN
aiua-5020	43	4	assumes	assume	VERB
aiua-5020	43	5	the	the	DET
aiua-5020	43	6	position	position	NOUN
aiua-5020	43	7	/	/	SYM
aiua-5020	43	8	shape	shape	NOUN
aiua-5020	43	9	of	of	ADP
aiua-5020	43	10	the	the	DET
aiua-5020	43	11	subject	subject	NOUN
aiua-5020	43	12	remains	remain	VERB
aiua-5020	43	13	unchanged	unchanged	ADJ
aiua-5020	43	14	and	and	CCONJ
aiua-5020	43	15	as	as	SCONJ
aiua-5020	43	16	such	such	ADJ
aiua-5020	43	17	registration	registration	NOUN
aiua-5020	43	18	is	be	AUX
aiua-5020	43	19	relatively	relatively	ADV
aiua-5020	43	20	simple	simple	ADJ
aiua-5020	43	21	.	.	PUNCT
aiua-5020	44	1	for	for	ADP
aiua-5020	44	2	example	example	NOUN
aiua-5020	44	3	in	in	ADP
aiua-5020	44	4	neurosurgery	neurosurgery	NOUN
aiua-5020	44	5	,	,	PUNCT
aiua-5020	44	6	the	the	DET
aiua-5020	44	7	brain	brain	NOUN
aiua-5020	44	8	stays	stay	VERB
aiua-5020	44	9	mostly	mostly	ADV
aiua-5020	44	10	unchanged	unchanged	ADJ
aiua-5020	44	11	between	between	ADP
aiua-5020	44	12	scans	scan	NOUN
aiua-5020	44	13	and	and	CCONJ
aiua-5020	44	14	when	when	SCONJ
aiua-5020	44	15	a	a	DET
aiua-5020	44	16	stereotactic	stereotactic	ADJ
aiua-5020	44	17	frame	frame	NOUN
aiua-5020	44	18	is	be	AUX
aiua-5020	44	19	attached	attach	VERB
aiua-5020	44	20	to	to	ADP
aiua-5020	44	21	the	the	DET
aiua-5020	44	22	patient	patient	NOUN
aiua-5020	44	23	’s	’s	PART
aiua-5020	44	24	skull	skull	NOUN
aiua-5020	44	25	,	,	PUNCT
aiua-5020	44	26	fiduciary	fiduciary	ADJ
aiua-5020	44	27	markers	marker	NOUN
aiua-5020	44	28	can	can	AUX
aiua-5020	44	29	easily	easily	ADV
aiua-5020	44	30	be	be	AUX
aiua-5020	44	31	aligned	align	VERB
aiua-5020	44	32	with	with	ADP
aiua-5020	44	33	ct	ct	PROPN
aiua-5020	44	34	/	/	SYM
aiua-5020	44	35	mri	mri	NOUN
aiua-5020	44	36	pre	pre	ADJ
aiua-5020	44	37	-	-	ADJ
aiua-5020	44	38	operative	operative	ADJ
aiua-5020	44	39	images	image	NOUN
aiua-5020	44	40	.	.	PUNCT
aiua-5020	45	1	another	another	DET
aiua-5020	45	2	field	field	NOUN
aiua-5020	45	3	,	,	PUNCT
aiua-5020	45	4	which	which	PRON
aiua-5020	45	5	has	have	AUX
aiua-5020	45	6	also	also	ADV
aiua-5020	45	7	been	be	AUX
aiua-5020	45	8	able	able	ADJ
aiua-5020	45	9	to	to	PART
aiua-5020	45	10	exploit	exploit	VERB
aiua-5020	45	11	igs	ig	NOUN
aiua-5020	45	12	,	,	PUNCT
aiua-5020	45	13	is	be	AUX
aiua-5020	45	14	orthopaedics	orthopaedic	NOUN
aiua-5020	45	15	because	because	SCONJ
aiua-5020	45	16	again	again	ADV
aiua-5020	45	17	the	the	DET
aiua-5020	45	18	anatomy	anatomy	NOUN
aiua-5020	45	19	remains	remain	VERB
aiua-5020	45	20	fixed	fix	VERB
aiua-5020	45	21	(	(	PUNCT
aiua-5020	45	22	17	17	NUM
aiua-5020	45	23	)	)	PUNCT
aiua-5020	45	24	.	.	PUNCT
aiua-5020	46	1	the	the	DET
aiua-5020	46	2	need	need	NOUN
aiua-5020	46	3	for	for	ADP
aiua-5020	46	4	non	non	ADJ
aiua-5020	46	5	-	-	ADJ
aiua-5020	46	6	rigid	rigid	ADJ
aiua-5020	46	7	registration	registration	NOUN
aiua-5020	46	8	has	have	AUX
aiua-5020	46	9	developed	develop	VERB
aiua-5020	46	10	because	because	SCONJ
aiua-5020	46	11	most	most	ADJ
aiua-5020	46	12	structures	structure	NOUN
aiua-5020	46	13	in	in	ADP
aiua-5020	46	14	the	the	DET
aiua-5020	46	15	body	body	NOUN
aiua-5020	46	16	are	be	AUX
aiua-5020	46	17	in	in	ADP
aiua-5020	46	18	fact	fact	NOUN
aiua-5020	46	19	dynamic	dynamic	ADJ
aiua-5020	46	20	and	and	CCONJ
aiua-5020	46	21	susceptible	susceptible	ADJ
aiua-5020	46	22	to	to	ADP
aiua-5020	46	23	soft	soft	ADJ
aiua-5020	46	24	tissue	tissue	NOUN
aiua-5020	46	25	deformation	deformation	NOUN
aiua-5020	46	26	during	during	ADP
aiua-5020	46	27	surgery	surgery	NOUN
aiua-5020	46	28	.	.	PUNCT
aiua-5020	47	1	non	non	ADJ
aiua-5020	47	2	-	-	ADJ
aiua-5020	47	3	rigid	rigid	ADJ
aiua-5020	47	4	registration	registration	NOUN
aiua-5020	47	5	is	be	AUX
aiua-5020	47	6	much	much	ADV
aiua-5020	47	7	more	more	ADV
aiua-5020	47	8	complex	complex	ADJ
aiua-5020	47	9	and	and	CCONJ
aiua-5020	47	10	time	time	NOUN
aiua-5020	47	11	-	-	PUNCT
aiua-5020	47	12	consuming	consume	VERB
aiua-5020	47	13	(	(	PUNCT
aiua-5020	47	14	10	10	NUM
aiua-5020	47	15	)	)	PUNCT
aiua-5020	47	16	.	.	PUNCT
aiua-5020	48	1	this	this	PRON
aiua-5020	48	2	has	have	AUX
aiua-5020	48	3	been	be	AUX
aiua-5020	48	4	the	the	DET
aiua-5020	48	5	main	main	ADJ
aiua-5020	48	6	challenge	challenge	NOUN
aiua-5020	48	7	of	of	ADP
aiua-5020	48	8	using	use	VERB
aiua-5020	48	9	igs	ig	NOUN
aiua-5020	48	10	in	in	ADP
aiua-5020	48	11	surgical	surgical	ADJ
aiua-5020	48	12	fields	field	NOUN
aiua-5020	48	13	such	such	ADJ
aiua-5020	48	14	urology	urology	NOUN
aiua-5020	48	15	,	,	PUNCT
aiua-5020	48	16	cardiac	cardiac	ADJ
aiua-5020	48	17	and	and	CCONJ
aiua-5020	48	18	general	general	ADJ
aiua-5020	48	19	surgery	surgery	NOUN
aiua-5020	48	20	.	.	PUNCT
aiua-5020	49	1	furthermore	furthermore	ADV
aiua-5020	49	2	,	,	PUNCT
aiua-5020	49	3	many	many	ADJ
aiua-5020	49	4	of	of	ADP
aiua-5020	49	5	the	the	DET
aiua-5020	49	6	current	current	ADJ
aiua-5020	49	7	registration	registration	NOUN
aiua-5020	49	8	models	model	NOUN
aiua-5020	49	9	require	require	VERB
aiua-5020	49	10	manual	manual	ADJ
aiua-5020	49	11	overlay	overlay	NOUN
aiua-5020	49	12	and	and	CCONJ
aiua-5020	49	13	hence	hence	ADV
aiua-5020	49	14	the	the	DET
aiua-5020	49	15	potential	potential	NOUN
aiua-5020	49	16	for	for	ADP
aiua-5020	49	17	human	human	ADJ
aiua-5020	49	18	error	error	NOUN
aiua-5020	49	19	can	can	AUX
aiua-5020	49	20	affect	affect	VERB
aiua-5020	49	21	the	the	DET
aiua-5020	49	22	accuracy	accuracy	NOUN
aiua-5020	49	23	of	of	ADP
aiua-5020	49	24	the	the	DET
aiua-5020	49	25	system	system	NOUN
aiua-5020	49	26	.	.	PUNCT
aiua-5020	50	1	in	in	ADP
aiua-5020	50	2	cases	case	NOUN
aiua-5020	50	3	where	where	SCONJ
aiua-5020	50	4	there	there	PRON
aiua-5020	50	5	are	be	VERB
aiua-5020	50	6	no	no	DET
aiua-5020	50	7	intraoperative	intraoperative	ADJ
aiua-5020	50	8	images	image	NOUN
aiua-5020	50	9	available	available	ADJ
aiua-5020	50	10	,	,	PUNCT
aiua-5020	50	11	the	the	DET
aiua-5020	50	12	pre	pre	ADJ
aiua-5020	50	13	-	-	ADJ
aiua-5020	50	14	operative	operative	ADJ
aiua-5020	50	15	images	image	NOUN
aiua-5020	50	16	are	be	AUX
aiua-5020	50	17	registered	register	VERB
aiua-5020	50	18	just	just	ADV
aiua-5020	50	19	to	to	ADP
aiua-5020	50	20	an	an	DET
aiua-5020	50	21	instrument	instrument	NOUN
aiua-5020	50	22	tracking	tracking	NOUN
aiua-5020	50	23	system	system	NOUN
aiua-5020	50	24	.	.	PUNCT
aiua-5020	51	1	tracking	tracking	NOUN
aiua-5020	51	2	allows	allow	VERB
aiua-5020	51	3	for	for	SCONJ
aiua-5020	51	4	the	the	DET
aiua-5020	51	5	exact	exact	ADJ
aiua-5020	51	6	location	location	NOUN
aiua-5020	51	7	of	of	ADP
aiua-5020	51	8	surgical	surgical	ADJ
aiua-5020	51	9	instruments	instrument	NOUN
aiua-5020	51	10	to	to	PART
aiua-5020	51	11	be	be	AUX
aiua-5020	51	12	determined	determine	VERB
aiua-5020	51	13	.	.	PUNCT
aiua-5020	52	1	the	the	DET
aiua-5020	52	2	surgeon	surgeon	NOUN
aiua-5020	52	3	can	can	AUX
aiua-5020	52	4	therefore	therefore	ADV
aiua-5020	52	5	be	be	AUX
aiua-5020	52	6	guided	guide	VERB
aiua-5020	52	7	in	in	ADP
aiua-5020	52	8	real	real	ADJ
aiua-5020	52	9	-	-	PUNCT
aiua-5020	52	10	time	time	NOUN
aiua-5020	52	11	during	during	ADP
aiua-5020	52	12	the	the	DET
aiua-5020	52	13	procedure	procedure	NOUN
aiua-5020	52	14	.	.	PUNCT
aiua-5020	53	1	the	the	DET
aiua-5020	53	2	commonest	commonest	NOUN
aiua-5020	53	3	tracking	tracking	NOUN
aiua-5020	53	4	materials	material	NOUN
aiua-5020	53	5	are	be	AUX
aiua-5020	53	6	optical	optical	ADJ
aiua-5020	53	7	and	and	CCONJ
aiua-5020	53	8	magnetic	magnetic	ADJ
aiua-5020	53	9	.	.	PUNCT
aiua-5020	54	1	the	the	DET
aiua-5020	54	2	optical	optical	ADJ
aiua-5020	54	3	system	system	NOUN
aiua-5020	54	4	uses	use	VERB
aiua-5020	54	5	a	a	DET
aiua-5020	54	6	specialised	specialised	ADJ
aiua-5020	54	7	tool	tool	NOUN
aiua-5020	54	8	with	with	ADP
aiua-5020	54	9	a	a	DET
aiua-5020	54	10	camera	camera	NOUN
aiua-5020	54	11	and	and	CCONJ
aiua-5020	54	12	a	a	DET
aiua-5020	54	13	tracker	tracker	NOUN
aiua-5020	54	14	.	.	PUNCT
aiua-5020	55	1	the	the	DET
aiua-5020	55	2	surgeon	surgeon	NOUN
aiua-5020	55	3	holds	hold	VERB
aiua-5020	55	4	the	the	DET
aiua-5020	55	5	proximal	proximal	ADJ
aiua-5020	55	6	end	end	NOUN
aiua-5020	55	7	of	of	ADP
aiua-5020	55	8	the	the	DET
aiua-5020	55	9	tool	tool	NOUN
aiua-5020	55	10	with	with	ADP
aiua-5020	55	11	the	the	DET
aiua-5020	55	12	camera	camera	NOUN
aiua-5020	55	13	and	and	CCONJ
aiua-5020	55	14	the	the	DET
aiua-5020	55	15	distal	distal	ADJ
aiua-5020	55	16	tracker	tracker	NOUN
aiua-5020	55	17	is	be	AUX
aiua-5020	55	18	placed	place	VERB
aiua-5020	55	19	inside	inside	ADP
aiua-5020	55	20	the	the	DET
aiua-5020	55	21	patient	patient	NOUN
aiua-5020	55	22	.	.	PUNCT
aiua-5020	56	1	however	however	ADV
aiua-5020	56	2	,	,	PUNCT
aiua-5020	56	3	direct	direct	ADJ
aiua-5020	56	4	line	line	NOUN
aiua-5020	56	5	of	of	ADP
aiua-5020	56	6	sight	sight	NOUN
aiua-5020	56	7	is	be	AUX
aiua-5020	56	8	necessary	necessary	ADJ
aiua-5020	56	9	between	between	ADP
aiua-5020	56	10	the	the	DET
aiua-5020	56	11	camera	camera	NOUN
aiua-5020	56	12	and	and	CCONJ
aiua-5020	56	13	the	the	DET
aiua-5020	56	14	tracker	tracker	NOUN
aiua-5020	56	15	,	,	PUNCT
aiua-5020	56	16	which	which	PRON
aiua-5020	56	17	can	can	AUX
aiua-5020	56	18	be	be	AUX
aiua-5020	56	19	difficult	difficult	ADJ
aiua-5020	56	20	in	in	ADP
aiua-5020	56	21	the	the	DET
aiua-5020	56	22	operating	operating	NOUN
aiua-5020	56	23	theatre	theatre	NOUN
aiua-5020	56	24	.	.	PUNCT
aiua-5020	57	1	the	the	DET
aiua-5020	57	2	newer	new	ADJ
aiua-5020	57	3	method	method	NOUN
aiua-5020	57	4	of	of	ADP
aiua-5020	57	5	magnetic	magnetic	ADJ
aiua-5020	57	6	tracking	tracking	NOUN
aiua-5020	57	7	does	do	AUX
aiua-5020	57	8	not	not	PART
aiua-5020	57	9	require	require	VERB
aiua-5020	57	10	direct	direct	ADJ
aiua-5020	57	11	of	of	ADP
aiua-5020	57	12	line	line	NOUN
aiua-5020	57	13	of	of	ADP
aiua-5020	57	14	sight	sight	NOUN
aiua-5020	57	15	but	but	CCONJ
aiua-5020	57	16	electromagnetic	electromagnetic	ADJ
aiua-5020	57	17	forces	force	NOUN
aiua-5020	57	18	can	can	AUX
aiua-5020	57	19	vary	vary	VERB
aiua-5020	57	20	with	with	ADP
aiua-5020	57	21	the	the	DET
aiua-5020	57	22	presence	presence	NOUN
aiua-5020	57	23	of	of	ADP
aiua-5020	57	24	metallic	metallic	ADJ
aiua-5020	57	25	objects	object	NOUN
aiua-5020	57	26	in	in	ADP
aiua-5020	57	27	the	the	DET
aiua-5020	57	28	operating	operating	NOUN
aiua-5020	57	29	room	room	NOUN
aiua-5020	57	30	(	(	PUNCT
aiua-5020	57	31	8)	8)	NUM
aiua-5020	57	32	.	.	PUNCT
aiua-5020	58	1	the	the	DET
aiua-5020	58	2	surgical	surgical	ADJ
aiua-5020	58	3	accuracy	accuracy	NOUN
aiua-5020	58	4	of	of	ADP
aiua-5020	58	5	optical	optical	ADJ
aiua-5020	58	6	and	and	CCONJ
aiua-5020	58	7	magnetic	magnetic	ADJ
aiua-5020	58	8	tracking	tracking	NOUN
aiua-5020	58	9	systems	system	NOUN
aiua-5020	58	10	(	(	PUNCT
aiua-5020	58	11	<	<	X
aiua-5020	58	12	3	3	NUM
aiua-5020	58	13	mm	mm	NOUN
aiua-5020	58	14	considered	consider	VERB
aiua-5020	58	15	good	good	ADJ
aiua-5020	58	16	)	)	PUNCT
aiua-5020	58	17	was	be	AUX
aiua-5020	58	18	compared	compare	VERB
aiua-5020	58	19	by	by	ADP
aiua-5020	58	20	mascott	mascott	PROPN
aiua-5020	58	21	in	in	ADP
aiua-5020	58	22	2005	2005	NUM
aiua-5020	58	23	.	.	PUNCT
aiua-5020	59	1	the	the	DET
aiua-5020	59	2	results	result	NOUN
aiua-5020	59	3	of	of	ADP
aiua-5020	59	4	this	this	DET
aiua-5020	59	5	study	study	NOUN
aiua-5020	59	6	show	show	VERB
aiua-5020	59	7	the	the	DET
aiua-5020	59	8	optical	optical	ADJ
aiua-5020	59	9	tracking	tracking	NOUN
aiua-5020	59	10	system	system	NOUN
aiua-5020	59	11	had	have	VERB
aiua-5020	59	12	an	an	DET
aiua-5020	59	13	accuracy	accuracy	NOUN
aiua-5020	59	14	of	of	ADP
aiua-5020	59	15	1.4	1.4	NUM
aiua-5020	59	16	±	±	NUM
aiua-5020	59	17	0.8	0.8	NUM
aiua-5020	59	18	mm	mm	NOUN
aiua-5020	59	19	and	and	CCONJ
aiua-5020	59	20	the	the	DET
aiua-5020	59	21	magnetic	magnetic	ADJ
aiua-5020	59	22	system	system	NOUN
aiua-5020	59	23	had	have	VERB
aiua-5020	59	24	1.4	1.4	NUM
aiua-5020	59	25	±	±	NUM
aiua-5020	59	26	0.6	0.6	NUM
aiua-5020	59	27	mm	mm	INTJ
aiua-5020	59	28	(	(	PUNCT
aiua-5020	59	29	root	root	NOUN
aiua-5020	59	30	mean	mean	ADJ
aiua-5020	59	31	square	square	NOUN
aiua-5020	59	32	)	)	PUNCT
aiua-5020	59	33	,	,	PUNCT
aiua-5020	59	34	and	and	CCONJ
aiua-5020	59	35	hence	hence	ADV
aiua-5020	59	36	both	both	DET
aiua-5020	59	37	systems	system	NOUN
aiua-5020	59	38	are	be	AUX
aiua-5020	59	39	consider	consider	VERB
aiua-5020	59	40	highly	highly	ADV
aiua-5020	59	41	accurate	accurate	ADJ
aiua-5020	59	42	(	(	PUNCT
aiua-5020	59	43	11	11	NUM
aiua-5020	59	44	)	)	PUNCT
aiua-5020	59	45	.	.	PUNCT
aiua-5020	60	1	however	however	ADV
aiua-5020	60	2	accuracy	accuracy	NOUN
aiua-5020	60	3	of	of	ADP
aiua-5020	60	4	the	the	DET
aiua-5020	60	5	tracking	tracking	NOUN
aiua-5020	60	6	devices	device	NOUN
aiua-5020	60	7	is	be	AUX
aiua-5020	60	8	application	application	NOUN
aiua-5020	60	9	specific	specific	ADJ
aiua-5020	60	10	and	and	CCONJ
aiua-5020	60	11	can	can	AUX
aiua-5020	60	12	vary	vary	VERB
aiua-5020	60	13	.	.	PUNCT
aiua-5020	61	1	4	4	X
aiua-5020	61	2	)	)	PUNCT
aiua-5020	61	3	user	user	NOUN
aiua-5020	61	4	interface	interface	NOUN
aiua-5020	61	5	and	and	CCONJ
aiua-5020	61	6	display	display	VERB
aiua-5020	61	7	the	the	DET
aiua-5020	61	8	previous	previous	ADJ
aiua-5020	61	9	3	3	NUM
aiua-5020	61	10	steps	step	NOUN
aiua-5020	61	11	must	must	AUX
aiua-5020	61	12	all	all	PRON
aiua-5020	61	13	be	be	AUX
aiua-5020	61	14	coordinated	coordinate	VERB
aiua-5020	61	15	onto	onto	ADP
aiua-5020	61	16	a	a	DET
aiua-5020	61	17	user	user	NOUN
aiua-5020	61	18	interface	interface	NOUN
aiua-5020	61	19	.	.	PUNCT
aiua-5020	62	1	it	it	PRON
aiua-5020	62	2	is	be	AUX
aiua-5020	62	3	important	important	ADJ
aiua-5020	62	4	the	the	DET
aiua-5020	62	5	user	user	NOUN
aiua-5020	62	6	interface	interface	NOUN
aiua-5020	62	7	is	be	AUX
aiua-5020	62	8	designed	design	VERB
aiua-5020	62	9	for	for	ADP
aiua-5020	62	10	ease	ease	NOUN
aiua-5020	62	11	of	of	ADP
aiua-5020	62	12	control	control	NOUN
aiua-5020	62	13	,	,	PUNCT
aiua-5020	62	14	rather	rather	ADV
aiua-5020	62	15	than	than	ADP
aiua-5020	62	16	creating	create	VERB
aiua-5020	62	17	a	a	DET
aiua-5020	62	18	distraction	distraction	NOUN
aiua-5020	62	19	for	for	ADP
aiua-5020	62	20	the	the	DET
aiua-5020	62	21	surgeon	surgeon	NOUN
aiua-5020	62	22	.	.	PUNCT
aiua-5020	63	1	the	the	DET
aiua-5020	63	2	data	data	NOUN
aiua-5020	63	3	is	be	AUX
aiua-5020	63	4	then	then	ADV
aiua-5020	63	5	available	available	ADJ
aiua-5020	63	6	to	to	PART
aiua-5020	63	7	view	view	VERB
aiua-5020	63	8	on	on	ADP
aiua-5020	63	9	a	a	DET
aiua-5020	63	10	display	display	NOUN
aiua-5020	63	11	console	console	NOUN
aiua-5020	63	12	as	as	ADP
aiua-5020	63	13	an	an	DET
aiua-5020	63	14	ar	ar	NOUN
aiua-5020	63	15	.	.	PUNCT
aiua-5020	64	1	this	this	PRON
aiua-5020	64	2	includes	include	VERB
aiua-5020	64	3	the	the	DET
aiua-5020	64	4	imaging	imaging	NOUN
aiua-5020	64	5	material	material	NOUN
aiua-5020	64	6	,	,	PUNCT
aiua-5020	64	7	a	a	DET
aiua-5020	64	8	view	view	NOUN
aiua-5020	64	9	of	of	ADP
aiua-5020	64	10	the	the	DET
aiua-5020	64	11	tracked	track	VERB
aiua-5020	64	12	surgical	surgical	ADJ
aiua-5020	64	13	instruments	instrument	NOUN
aiua-5020	64	14	and	and	CCONJ
aiua-5020	64	15	in	in	ADP
aiua-5020	64	16	the	the	DET
aiua-5020	64	17	case	case	NOUN
aiua-5020	64	18	of	of	ADP
aiua-5020	64	19	laparoscopic	laparoscopic	ADJ
aiua-5020	64	20	surgery	surgery	NOUN
aiua-5020	64	21	it	it	PRON
aiua-5020	64	22	is	be	AUX
aiua-5020	64	23	superimposed	superimpose	VERB
aiua-5020	64	24	over	over	ADP
aiua-5020	64	25	the	the	DET
aiua-5020	64	26	video	video	NOUN
aiua-5020	64	27	feed	feed	NOUN
aiua-5020	64	28	.	.	PUNCT
aiua-5020	65	1	the	the	DET
aiua-5020	65	2	ar	ar	PROPN
aiua-5020	65	3	must	must	AUX
aiua-5020	65	4	also	also	ADV
aiua-5020	65	5	be	be	AUX
aiua-5020	65	6	able	able	ADJ
aiua-5020	65	7	to	to	PART
aiua-5020	65	8	provide	provide	VERB
aiua-5020	65	9	real	real	ADJ
aiua-5020	65	10	-	-	PUNCT
aiua-5020	65	11	time	time	NOUN
aiua-5020	65	12	updates	update	NOUN
aiua-5020	65	13	during	during	ADP
aiua-5020	65	14	the	the	DET
aiua-5020	65	15	procedure	procedure	NOUN
aiua-5020	65	16	.	.	PUNCT
aiua-5020	66	1	an	an	DET
aiua-5020	66	2	example	example	NOUN
aiua-5020	66	3	of	of	ADP
aiua-5020	66	4	a	a	DET
aiua-5020	66	5	display	display	NOUN
aiua-5020	66	6	screen	screen	NOUN
aiua-5020	66	7	is	be	AUX
aiua-5020	66	8	illustrated	illustrate	VERB
aiua-5020	66	9	in	in	ADP
aiua-5020	66	10	figure	figure	NOUN
aiua-5020	66	11	1	1	NUM
aiua-5020	66	12	showing	show	VERB
aiua-5020	66	13	a	a	DET
aiua-5020	66	14	robotic	robotic	ADJ
aiua-5020	66	15	radical	radical	ADJ
aiua-5020	66	16	imaging	imaging	NOUN
aiua-5020	66	17	technique	technique	NOUN
aiua-5020	66	18	tissue	tissue	NOUN
aiua-5020	66	19	penetration	penetration	NOUN
aiua-5020	66	20	spatial	spatial	ADJ
aiua-5020	66	21	resolution	resolution	NOUN
aiua-5020	66	22	tissue	tissue	NOUN
aiua-5020	66	23	boundary	boundary	ADJ
aiua-5020	66	24	differentiation	differentiation	NOUN
aiua-5020	66	25	advantages	advantage	NOUN
aiua-5020	66	26	disadvantages	disadvantage	VERB
aiua-5020	66	27	ct	ct	PRON
aiua-5020	66	28	complete	complete	ADJ
aiua-5020	66	29	0.25	0.25	NUM
aiua-5020	66	30	mm	mm	NOUN
aiua-5020	67	1	+	+	PROPN
aiua-5020	67	2	+	+	ADJ
aiua-5020	67	3	+	+	ADJ
aiua-5020	67	4	3	3	NUM
aiua-5020	67	5	-	-	ADJ
aiua-5020	67	6	dimensional	dimensional	ADJ
aiua-5020	67	7	ionizing	ionize	VERB
aiua-5020	67	8	radiation	radiation	NOUN
aiua-5020	67	9	+	+	PROPN
aiua-5020	67	10	+	+	ADJ
aiua-5020	67	11	+	+	ADJ
aiua-5020	67	12	+	+	VERB
aiua-5020	67	13	can	can	AUX
aiua-5020	67	14	use	use	VERB
aiua-5020	67	15	contrast	contrast	NOUN
aiua-5020	67	16	agent	agent	NOUN
aiua-5020	67	17	cheaper	cheap	ADJ
aiua-5020	67	18	than	than	ADP
aiua-5020	67	19	mri	mri	NOUN
aiua-5020	67	20	mri	mri	NOUN
aiua-5020	67	21	complete	complete	ADJ
aiua-5020	67	22	0.5	0.5	NUM
aiua-5020	67	23	mm	mm	NOUN
aiua-5020	67	24	+	+	PROPN
aiua-5020	67	25	+	+	ADJ
aiua-5020	67	26	+	+	ADJ
aiua-5020	67	27	+	+	ADJ
aiua-5020	67	28	3	3	NUM
aiua-5020	67	29	-	-	ADJ
aiua-5020	67	30	dimensional	dimensional	ADJ
aiua-5020	67	31	expensive	expensive	ADJ
aiua-5020	68	1	+	+	ADJ
aiua-5020	68	2	+	+	ADJ
aiua-5020	68	3	+	+	ADJ
aiua-5020	68	4	+	+	ADJ
aiua-5020	68	5	intrusive	intrusive	ADJ
aiua-5020	68	6	in	in	ADP
aiua-5020	68	7	operating	operating	NOUN
aiua-5020	68	8	room	room	NOUN
aiua-5020	68	9	x	x	NOUN
aiua-5020	68	10	-	-	NOUN
aiua-5020	68	11	ray	ray	NOUN
aiua-5020	68	12	fluoroscopy	fluoroscopy	NOUN
aiua-5020	68	13	complete	complete	ADJ
aiua-5020	68	14	0.1	0.1	NUM
aiua-5020	68	15	mm	mm	NOUN
aiua-5020	69	1	+	+	ADJ
aiua-5020	69	2	+	+	ADJ
aiua-5020	69	3	low	low	ADJ
aiua-5020	69	4	cost	cost	NOUN
aiua-5020	69	5	ionizing	ionize	VERB
aiua-5020	69	6	radiation	radiation	NOUN
aiua-5020	69	7	+	+	PROPN
aiua-5020	69	8	+	+	ADJ
aiua-5020	69	9	+	+	ADJ
aiua-5020	69	10	+	+	VERB
aiua-5020	69	11	can	can	AUX
aiua-5020	69	12	use	use	VERB
aiua-5020	69	13	contrast	contrast	NOUN
aiua-5020	69	14	agent	agent	NOUN
aiua-5020	69	15	2	2	NUM
aiua-5020	69	16	-	-	PUNCT
aiua-5020	69	17	dimensional	dimensional	ADJ
aiua-5020	69	18	us	us	ADJ
aiua-5020	69	19	2	2	NUM
aiua-5020	69	20	-	-	SYM
aiua-5020	69	21	20	20	NUM
aiua-5020	69	22	cm	cm	NOUN
aiua-5020	69	23	,	,	PUNCT
aiua-5020	69	24	no	no	DET
aiua-5020	69	25	bone	bone	NOUN
aiua-5020	69	26	20	20	NUM
aiua-5020	69	27	µm0.5	µm0.5	NOUN
aiua-5020	69	28	mm	mm	NOUN
aiua-5020	69	29	+	+	PROPN
aiua-5020	69	30	+	+	ADJ
aiua-5020	69	31	+	+	ADJ
aiua-5020	69	32	non	non	ADJ
aiua-5020	69	33	-	-	ADJ
aiua-5020	69	34	ionising	ionise	VERB
aiua-5020	69	35	poor	poor	ADJ
aiua-5020	69	36	bone	bone	NOUN
aiua-5020	69	37	penetration	penetration	NOUN
aiua-5020	69	38	+	+	NOUN
aiua-5020	69	39	+	+	ADJ
aiua-5020	69	40	+	+	ADJ
aiua-5020	69	41	3	3	NUM
aiua-5020	69	42	-	-	PUNCT
aiua-5020	69	43	dimensional	dimensional	ADJ
aiua-5020	69	44	user	user	NOUN
aiua-5020	69	45	dependant	dependant	ADJ
aiua-5020	69	46	dynamic	dynamic	ADJ
aiua-5020	69	47	imaging	image	VERB
aiua-5020	69	48	small	small	ADJ
aiua-5020	69	49	portable	portable	ADJ
aiua-5020	69	50	device	device	NOUN
aiua-5020	69	51	pet	pet	ADJ
aiua-5020	69	52	complete	complete	ADJ
aiua-5020	69	53	5	5	NUM
aiua-5020	69	54	-	-	SYM
aiua-5020	69	55	10	10	NUM
aiua-5020	69	56	mm	mm	NOUN
aiua-5020	69	57	can	can	AUX
aiua-5020	69	58	accurately	accurately	ADV
aiua-5020	69	59	define	define	VERB
aiua-5020	69	60	lesions	lesion	NOUN
aiua-5020	69	61	ionising	ionise	VERB
aiua-5020	69	62	radiation	radiation	NOUN
aiua-5020	70	1	+	+	PROPN
aiua-5020	71	1	+	+	ADJ
aiua-5020	72	1	+	+	ADJ
aiua-5020	72	2	+	+	X
aiua-5020	72	3	when	when	SCONJ
aiua-5020	72	4	combined	combine	VERB
aiua-5020	72	5	with	with	ADP
aiua-5020	72	6	ct	ct	PROPN
aiua-5020	72	7	/	/	SYM
aiua-5020	72	8	mri	mri	NOUN
aiua-5020	72	9	optical	optical	ADJ
aiua-5020	72	10	≤	≤	NOUN
aiua-5020	72	11	5	5	NUM
aiua-5020	72	12	mm	mm	NOUN
aiua-5020	72	13	10	10	NUM
aiua-5020	72	14	µm	µm	ADP
aiua-5020	72	15	+	+	PROPN
aiua-5020	73	1	+	+	ADJ
aiua-5020	73	2	+	+	ADJ
aiua-5020	73	3	+	+	ADJ
aiua-5020	73	4	high	high	ADJ
aiua-5020	73	5	quality	quality	NOUN
aiua-5020	73	6	images	image	NOUN
aiua-5020	73	7	lack	lack	NOUN
aiua-5020	73	8	of	of	ADP
aiua-5020	73	9	penetration	penetration	NOUN
aiua-5020	73	10	+	+	NOUN
aiua-5020	73	11	+	+	X
aiua-5020	73	12	of	of	ADP
aiua-5020	73	13	direct	direct	ADJ
aiua-5020	73	14	vision	vision	NOUN
aiua-5020	73	15	ct	ct	NOUN
aiua-5020	73	16	:	:	PUNCT
aiua-5020	73	17	computer	computer	NOUN
aiua-5020	73	18	tomography	tomography	NOUN
aiua-5020	73	19	,	,	PUNCT
aiua-5020	73	20	mri	mri	NOUN
aiua-5020	73	21	:	:	PUNCT
aiua-5020	73	22	magnetic	magnetic	ADJ
aiua-5020	73	23	resonance	resonance	NOUN
aiua-5020	73	24	imaging	imaging	NOUN
aiua-5020	73	25	,	,	PUNCT
aiua-5020	73	26	us	we	PRON
aiua-5020	73	27	:	:	PUNCT
aiua-5020	73	28	ultrasound	ultrasound	PROPN
aiua-5020	73	29	,	,	PUNCT
aiua-5020	73	30	pet	pet	ADJ
aiua-5020	73	31	:	:	PUNCT
aiua-5020	73	32	positive	positive	ADJ
aiua-5020	73	33	emission	emission	NOUN
aiua-5020	73	34	tomography	tomography	NOUN
aiua-5020	73	35	,	,	PUNCT
aiua-5020	73	36	ct	ct	PRON
aiua-5020	73	37	:	:	PUNCT
aiua-5020	73	38	computer	computer	NOUN
aiua-5020	73	39	tomography	tomography	NOUN
aiua-5020	73	40	,	,	PUNCT
aiua-5020	73	41	mri	mri	NOUN
aiua-5020	73	42	:	:	PUNCT
aiua-5020	73	43	magnetic	magnetic	ADJ
aiua-5020	73	44	resonance	resonance	NOUN
aiua-5020	73	45	imaging	imaging	NOUN
aiua-5020	73	46	,	,	PUNCT
aiua-5020	73	47	us	we	PRON
aiua-5020	73	48	:	:	PUNCT
aiua-5020	73	49	ultrasound	ultrasound	PROPN
aiua-5020	73	50	,	,	PUNCT
aiua-5020	73	51	pet	pet	ADJ
aiua-5020	73	52	:	:	PUNCT
aiua-5020	73	53	positive	positive	ADJ
aiua-5020	73	54	emission	emission	NOUN
aiua-5020	73	55	tomography	tomography	NOUN
aiua-5020	73	56	.	.	PUNCT
aiua-5020	74	1	table	table	NOUN
aiua-5020	74	2	1	1	NUM
aiua-5020	74	3	.	.	PUNCT
aiua-5020	75	1	imaging	imaging	NOUN
aiua-5020	75	2	modalities	modality	NOUN
aiua-5020	75	3	(	(	PUNCT
aiua-5020	75	4	1	1	NUM
aiua-5020	75	5	,	,	PUNCT
aiua-5020	75	6	5	5	NUM
aiua-5020	75	7	,	,	PUNCT
aiua-5020	75	8	6	6	NUM
aiua-5020	75	9	)	)	PUNCT
aiua-5020	75	10	.	.	PUNCT
aiua-5020	76	1	pervez_stesura	pervez_stesura	PROPN
aiua-5020	76	2	seveso	seveso	VERB
aiua-5020	76	3	15/01/15	15/01/15	NUM
aiua-5020	76	4	12:53	12:53	NUM
aiua-5020	76	5	pagina	pagina	NOUN
aiua-5020	76	6	246	246	NUM
aiua-5020	76	7	prostatectomy	prostatectomy	NOUN
aiua-5020	76	8	.	.	PUNCT
aiua-5020	77	1	the	the	DET
aiua-5020	77	2	pre	pre	ADJ
aiua-5020	77	3	-	-	ADJ
aiua-5020	77	4	operative	operative	ADJ
aiua-5020	77	5	mri	mri	NOUN
aiua-5020	77	6	scan	scan	NOUN
aiua-5020	77	7	is	be	AUX
aiua-5020	77	8	superimposed	superimpose	VERB
aiua-5020	77	9	over	over	ADP
aiua-5020	77	10	the	the	DET
aiua-5020	77	11	laparoscopic	laparoscopic	NOUN
aiua-5020	77	12	video	video	NOUN
aiua-5020	77	13	screen	screen	NOUN
aiua-5020	77	14	(	(	PUNCT
aiua-5020	77	15	12	12	NUM
aiua-5020	77	16	)	)	PUNCT
aiua-5020	77	17	.	.	PUNCT
aiua-5020	78	1	once	once	ADV
aiua-5020	78	2	all	all	DET
aiua-5020	78	3	the	the	DET
aiua-5020	78	4	components	component	NOUN
aiua-5020	78	5	of	of	ADP
aiua-5020	78	6	igs	igs	PROPN
aiua-5020	78	7	are	be	AUX
aiua-5020	78	8	merged	merge	VERB
aiua-5020	78	9	(	(	PUNCT
aiua-5020	78	10	shown	show	VERB
aiua-5020	78	11	in	in	ADP
aiua-5020	78	12	figure	figure	NOUN
aiua-5020	78	13	2	2	NUM
aiua-5020	78	14	)	)	PUNCT
aiua-5020	78	15	,	,	PUNCT
aiua-5020	78	16	the	the	DET
aiua-5020	78	17	surgeon	surgeon	NOUN
aiua-5020	78	18	can	can	AUX
aiua-5020	78	19	then	then	ADV
aiua-5020	78	20	use	use	VERB
aiua-5020	78	21	the	the	DET
aiua-5020	78	22	system	system	NOUN
aiua-5020	78	23	to	to	PART
aiua-5020	78	24	plan	plan	VERB
aiua-5020	78	25	,	,	PUNCT
aiua-5020	78	26	guide	guide	VERB
aiua-5020	78	27	and	and	CCONJ
aiua-5020	78	28	perform	perform	VERB
aiua-5020	78	29	surgery	surgery	NOUN
aiua-5020	78	30	.	.	PUNCT
aiua-5020	79	1	clinical	clinical	ADJ
aiua-5020	79	2	effectiveness	effectiveness	NOUN
aiua-5020	79	3	of	of	ADP
aiua-5020	79	4	image	image	NOUN
aiua-5020	79	5	guided	guide	VERB
aiua-5020	79	6	robotic	robotic	ADJ
aiua-5020	79	7	urology	urology	NOUN
aiua-5020	79	8	the	the	DET
aiua-5020	79	9	current	current	ADJ
aiua-5020	79	10	application	application	NOUN
aiua-5020	79	11	of	of	ADP
aiua-5020	79	12	igs	igs	PROPN
aiua-5020	79	13	in	in	ADP
aiua-5020	79	14	robotic	robotic	ADJ
aiua-5020	79	15	urology	urology	NOUN
aiua-5020	79	16	has	have	AUX
aiua-5020	79	17	been	be	AUX
aiua-5020	79	18	analysed	analyse	VERB
aiua-5020	79	19	in	in	ADP
aiua-5020	79	20	table	table	NOUN
aiua-5020	79	21	2	2	NUM
aiua-5020	79	22	,	,	PUNCT
aiua-5020	79	23	with	with	SCONJ
aiua-5020	79	24	its	its	PRON
aiua-5020	79	25	consideration	consideration	NOUN
aiua-5020	79	26	in	in	ADP
aiua-5020	79	27	robot	robot	NOUN
aiua-5020	79	28	assisted	assist	VERB
aiua-5020	79	29	prostatectomy	prostatectomy	ADV
aiua-5020	79	30	and	and	CCONJ
aiua-5020	79	31	robot	robot	NOUN
aiua-5020	79	32	assisted	assist	VERB
aiua-5020	79	33	partial	partial	ADJ
aiua-5020	79	34	nephrectomy	nephrectomy	NOUN
aiua-5020	79	35	.	.	PUNCT
aiua-5020	80	1	a	a	DET
aiua-5020	80	2	variety	variety	NOUN
aiua-5020	80	3	of	of	ADP
aiua-5020	80	4	imaging	imaging	NOUN
aiua-5020	80	5	modalities	modality	NOUN
aiua-5020	80	6	have	have	AUX
aiua-5020	80	7	been	be	AUX
aiua-5020	80	8	considered	consider	VERB
aiua-5020	80	9	,	,	PUNCT
aiua-5020	80	10	ranging	range	VERB
aiua-5020	80	11	from	from	ADP
aiua-5020	80	12	ct	ct	PRON
aiua-5020	80	13	to	to	ADP
aiua-5020	80	14	ultrasound	ultrasound	NOUN
aiua-5020	80	15	but	but	CCONJ
aiua-5020	80	16	development	development	NOUN
aiua-5020	80	17	is	be	AUX
aiua-5020	80	18	in	in	ADP
aiua-5020	80	19	the	the	DET
aiua-5020	80	20	early	early	ADJ
aiua-5020	80	21	stages	stage	NOUN
aiua-5020	80	22	with	with	ADP
aiua-5020	80	23	relatively	relatively	ADV
aiua-5020	80	24	small	small	ADJ
aiua-5020	80	25	studies	study	NOUN
aiua-5020	80	26	,	,	PUNCT
aiua-5020	80	27	aimed	aim	VERB
aiua-5020	80	28	mainly	mainly	ADV
aiua-5020	80	29	to	to	PART
aiua-5020	80	30	assess	assess	VERB
aiua-5020	80	31	the	the	DET
aiua-5020	80	32	feasibility	feasibility	NOUN
aiua-5020	80	33	of	of	ADP
aiua-5020	80	34	igs	igs	PROPN
aiua-5020	80	35	in	in	ADP
aiua-5020	80	36	urology	urology	NOUN
aiua-5020	80	37	.	.	PUNCT
aiua-5020	81	1	a	a	DET
aiua-5020	81	2	necessary	necessary	ADJ
aiua-5020	81	3	attribute	attribute	NOUN
aiua-5020	81	4	for	for	ADP
aiua-5020	81	5	the	the	DET
aiua-5020	81	6	validity	validity	NOUN
aiua-5020	81	7	of	of	ADP
aiua-5020	81	8	the	the	DET
aiua-5020	81	9	igs	igs	PROPN
aiua-5020	81	10	system	system	NOUN
aiua-5020	81	11	is	be	AUX
aiua-5020	81	12	accuracy	accuracy	NOUN
aiua-5020	81	13	.	.	PUNCT
aiua-5020	82	1	accuracy	accuracy	NOUN
aiua-5020	82	2	becomes	become	VERB
aiua-5020	82	3	more	more	ADV
aiua-5020	82	4	difficult	difficult	ADJ
aiua-5020	82	5	with	with	ADP
aiua-5020	82	6	non	non	ADJ
aiua-5020	82	7	-	-	ADJ
aiua-5020	82	8	rigid	rigid	ADJ
aiua-5020	82	9	registration	registration	NOUN
aiua-5020	82	10	with	with	ADP
aiua-5020	82	11	dynamic	dynamic	ADJ
aiua-5020	82	12	and	and	CCONJ
aiua-5020	82	13	soft	soft	ADJ
aiua-5020	82	14	tissue	tissue	NOUN
aiua-5020	82	15	deformation	deformation	NOUN
aiua-5020	82	16	.	.	PUNCT
aiua-5020	83	1	this	this	PRON
aiua-5020	83	2	is	be	AUX
aiua-5020	83	3	a	a	DET
aiua-5020	83	4	particular	particular	ADJ
aiua-5020	83	5	issue	issue	NOUN
aiua-5020	83	6	in	in	ADP
aiua-5020	83	7	urology	urology	NOUN
aiua-5020	83	8	because	because	SCONJ
aiua-5020	83	9	the	the	DET
aiua-5020	83	10	soft	soft	ADJ
aiua-5020	83	11	tissue	tissue	NOUN
aiua-5020	83	12	is	be	AUX
aiua-5020	83	13	in	in	ADP
aiua-5020	83	14	constant	constant	ADJ
aiua-5020	83	15	flux	flux	NOUN
aiua-5020	83	16	.	.	PUNCT
aiua-5020	84	1	teber	teber	PROPN
aiua-5020	84	2	et	et	PROPN
aiua-5020	84	3	al	al	PROPN
aiua-5020	84	4	.	.	PROPN
aiua-5020	85	1	(	(	PUNCT
aiua-5020	85	2	13	13	NUM
aiua-5020	85	3	)	)	PUNCT
aiua-5020	85	4	proposed	propose	VERB
aiua-5020	85	5	a	a	DET
aiua-5020	85	6	technique	technique	NOUN
aiua-5020	85	7	to	to	PART
aiua-5020	85	8	overcome	overcome	VERB
aiua-5020	85	9	the	the	DET
aiua-5020	85	10	issue	issue	NOUN
aiua-5020	85	11	of	of	ADP
aiua-5020	85	12	tissue	tissue	NOUN
aiua-5020	85	13	deformation	deformation	NOUN
aiua-5020	85	14	by	by	ADP
aiua-5020	85	15	using	use	VERB
aiua-5020	85	16	navigation	navigation	NOUN
aiua-5020	85	17	aids	aid	NOUN
aiua-5020	85	18	.	.	PUNCT
aiua-5020	86	1	needle	needle	NOUN
aiua-5020	86	2	-	-	PUNCT
aiua-5020	86	3	like	like	ADJ
aiua-5020	86	4	markers	marker	NOUN
aiua-5020	86	5	were	be	AUX
aiua-5020	86	6	inserted	insert	VERB
aiua-5020	86	7	directly	directly	ADV
aiua-5020	86	8	into	into	ADP
aiua-5020	86	9	the	the	DET
aiua-5020	86	10	target	target	NOUN
aiua-5020	86	11	organ	organ	NOUN
aiua-5020	86	12	,	,	PUNCT
aiua-5020	86	13	in	in	ADP
aiua-5020	86	14	this	this	DET
aiua-5020	86	15	case	case	NOUN
aiua-5020	86	16	the	the	DET
aiua-5020	86	17	kidney	kidney	NOUN
aiua-5020	86	18	and	and	CCONJ
aiua-5020	86	19	could	could	AUX
aiua-5020	86	20	be	be	AUX
aiua-5020	86	21	tracked	track	VERB
aiua-5020	86	22	intra	intra	ADJ
aiua-5020	86	23	-	-	ADJ
aiua-5020	86	24	operatively	operatively	ADV
aiua-5020	86	25	using	use	VERB
aiua-5020	86	26	a	a	DET
aiua-5020	86	27	mobile	mobile	ADJ
aiua-5020	86	28	c	c	NOUN
aiua-5020	86	29	-	-	NOUN
aiua-5020	86	30	arm	arm	NOUN
aiua-5020	86	31	with	with	ADP
aiua-5020	86	32	cone	cone	NOUN
aiua-5020	86	33	beam	beam	NOUN
aiua-5020	86	34	imaging	imaging	NOUN
aiua-5020	86	35	.	.	PUNCT
aiua-5020	87	1	along	along	ADP
aiua-5020	87	2	with	with	ADP
aiua-5020	87	3	pre	pre	ADJ
aiua-5020	87	4	-	-	ADJ
aiua-5020	87	5	operative	operative	ADJ
aiua-5020	87	6	ct	ct	NUM
aiua-5020	87	7	images	image	NOUN
aiua-5020	87	8	,	,	PUNCT
aiua-5020	87	9	all	all	DET
aiua-5020	87	10	the	the	DET
aiua-5020	87	11	information	information	NOUN
aiua-5020	87	12	was	be	AUX
aiua-5020	87	13	integrated	integrate	VERB
aiua-5020	87	14	in	in	ADP
aiua-5020	87	15	real	real	ADJ
aiua-5020	87	16	time	time	NOUN
aiua-5020	87	17	as	as	ADP
aiua-5020	87	18	an	an	DET
aiua-5020	87	19	image	image	NOUN
aiua-5020	87	20	overlay	overlay	NOUN
aiua-5020	87	21	over	over	ADP
aiua-5020	87	22	the	the	DET
aiua-5020	87	23	endoscopic	endoscopic	ADJ
aiua-5020	87	24	view	view	NOUN
aiua-5020	87	25	.	.	PUNCT
aiua-5020	88	1	although	although	SCONJ
aiua-5020	88	2	this	this	DET
aiua-5020	88	3	method	method	NOUN
aiua-5020	88	4	is	be	AUX
aiua-5020	88	5	good	good	ADJ
aiua-5020	88	6	at	at	ADP
aiua-5020	88	7	addressing	address	VERB
aiua-5020	88	8	the	the	DET
aiua-5020	88	9	issue	issue	NOUN
aiua-5020	88	10	of	of	ADP
aiua-5020	88	11	tissue	tissue	NOUN
aiua-5020	88	12	deformation	deformation	NOUN
aiua-5020	88	13	,	,	PUNCT
aiua-5020	88	14	its	its	PRON
aiua-5020	88	15	downside	downside	NOUN
aiua-5020	88	16	is	be	AUX
aiua-5020	88	17	that	that	SCONJ
aiua-5020	88	18	3d	3d	PROPN
aiua-5020	88	19	ar	ar	PROPN
aiua-5020	88	20	is	be	AUX
aiua-5020	88	21	superimposed	superimpose	VERB
aiua-5020	88	22	over	over	ADP
aiua-5020	88	23	a	a	DET
aiua-5020	88	24	2d	2d	NUM
aiua-5020	88	25	endoscopic	endoscopic	ADJ
aiua-5020	88	26	view	view	NOUN
aiua-5020	88	27	.	.	PUNCT
aiua-5020	89	1	another	another	DET
aiua-5020	89	2	technology	technology	NOUN
aiua-5020	89	3	that	that	PRON
aiua-5020	89	4	has	have	AUX
aiua-5020	89	5	shown	show	VERB
aiua-5020	89	6	a	a	DET
aiua-5020	89	7	great	great	ADJ
aiua-5020	89	8	deal	deal	NOUN
aiua-5020	89	9	of	of	ADP
aiua-5020	89	10	promise	promise	NOUN
aiua-5020	89	11	is	be	AUX
aiua-5020	89	12	the	the	DET
aiua-5020	89	13	firefly	firefly	NOUN
aiua-5020	89	14	imaging	imaging	NOUN
aiua-5020	89	15	system	system	NOUN
aiua-5020	89	16	.	.	PUNCT
aiua-5020	90	1	patients	patient	NOUN
aiua-5020	90	2	are	be	AUX
aiua-5020	90	3	injected	inject	VERB
aiua-5020	90	4	with	with	ADP
aiua-5020	90	5	intravenous	intravenous	ADJ
aiua-5020	90	6	indocyanine	indocyanine	NOUN
aiua-5020	90	7	green	green	NOUN
aiua-5020	90	8	(	(	PUNCT
aiua-5020	90	9	icg	icg	NOUN
aiua-5020	90	10	)	)	PUNCT
aiua-5020	90	11	dye	dye	NOUN
aiua-5020	90	12	,	,	PUNCT
aiua-5020	90	13	which	which	PRON
aiua-5020	90	14	binds	bind	VERB
aiua-5020	90	15	to	to	ADP
aiua-5020	90	16	plasma	plasma	NOUN
aiua-5020	90	17	proteins	protein	NOUN
aiua-5020	90	18	in	in	ADP
aiua-5020	90	19	the	the	DET
aiua-5020	90	20	blood	blood	NOUN
aiua-5020	90	21	.	.	PUNCT
aiua-5020	91	1	a	a	DET
aiua-5020	91	2	nearinfrared	nearinfrared	ADJ
aiua-5020	91	3	fluorescent	fluorescent	NOUN
aiua-5020	91	4	(	(	PUNCT
aiua-5020	91	5	nirf	nirf	NOUN
aiua-5020	91	6	)	)	PUNCT
aiua-5020	91	7	camera	camera	NOUN
aiua-5020	91	8	is	be	AUX
aiua-5020	91	9	integrated	integrate	VERB
aiua-5020	91	10	with	with	ADP
aiua-5020	91	11	the	the	DET
aiua-5020	91	12	da	da	PROPN
aiua-5020	91	13	vinci	vinci	PROPN
aiua-5020	91	14	®	®	NOUN
aiua-5020	91	15	surgical	surgical	ADJ
aiua-5020	91	16	system	system	NOUN
aiua-5020	91	17	and	and	CCONJ
aiua-5020	91	18	blood	blood	NOUN
aiua-5020	91	19	vessels	vessel	NOUN
aiua-5020	91	20	are	be	AUX
aiua-5020	91	21	illuminated	illuminate	VERB
aiua-5020	91	22	intra	intra	ADJ
aiua-5020	91	23	-	-	ADJ
aiua-5020	91	24	operatively	operatively	ADV
aiua-5020	91	25	.	.	PUNCT
aiua-5020	92	1	not	not	PART
aiua-5020	92	2	only	only	ADV
aiua-5020	92	3	does	do	AUX
aiua-5020	92	4	this	this	PRON
aiua-5020	92	5	improve	improve	VERB
aiua-5020	92	6	tumour	tumour	NOUN
aiua-5020	92	7	margins	margin	NOUN
aiua-5020	92	8	,	,	PUNCT
aiua-5020	92	9	but	but	CCONJ
aiua-5020	92	10	also	also	ADV
aiua-5020	92	11	allows	allow	VERB
aiua-5020	92	12	for	for	ADP
aiua-5020	92	13	selective	selective	ADJ
aiua-5020	92	14	clamping	clamping	NOUN
aiua-5020	92	15	of	of	ADP
aiua-5020	92	16	vessels	vessel	NOUN
aiua-5020	92	17	to	to	PART
aiua-5020	92	18	confine	confine	VERB
aiua-5020	92	19	the	the	DET
aiua-5020	92	20	area	area	NOUN
aiua-5020	92	21	of	of	ADP
aiua-5020	92	22	ischemia	ischemia	NOUN
aiua-5020	92	23	.	.	PUNCT
aiua-5020	93	1	it	it	PRON
aiua-5020	93	2	is	be	AUX
aiua-5020	93	3	important	important	ADJ
aiua-5020	93	4	to	to	PART
aiua-5020	93	5	note	note	VERB
aiua-5020	93	6	fluorescent	fluorescent	ADJ
aiua-5020	93	7	imaging	imaging	NOUN
aiua-5020	93	8	is	be	AUX
aiua-5020	93	9	inadequate	inadequate	ADJ
aiua-5020	93	10	as	as	ADP
aiua-5020	93	11	a	a	DET
aiua-5020	93	12	sole	sole	ADJ
aiua-5020	93	13	replacement	replacement	NOUN
aiua-5020	93	14	for	for	ADP
aiua-5020	93	15	white	white	ADJ
aiua-5020	93	16	light	light	NOUN
aiua-5020	93	17	,	,	PUNCT
aiua-5020	93	18	rather	rather	ADV
aiua-5020	93	19	it	it	PRON
aiua-5020	93	20	offers	offers	AUX
aiua-5020	93	21	be	be	AUX
aiua-5020	93	22	to	to	PART
aiua-5020	93	23	be	be	AUX
aiua-5020	93	24	a	a	DET
aiua-5020	93	25	great	great	ADJ
aiua-5020	93	26	adjunct	adjunct	NOUN
aiua-5020	93	27	that	that	PRON
aiua-5020	93	28	can	can	AUX
aiua-5020	93	29	be	be	AUX
aiua-5020	93	30	turned	turn	VERB
aiua-5020	93	31	on	on	ADP
aiua-5020	93	32	/	/	SYM
aiua-5020	93	33	off	off	NOUN
aiua-5020	93	34	as	as	SCONJ
aiua-5020	93	35	needed	need	VERB
aiua-5020	93	36	during	during	ADP
aiua-5020	93	37	the	the	DET
aiua-5020	93	38	procedure	procedure	NOUN
aiua-5020	93	39	(	(	PUNCT
aiua-5020	93	40	14	14	NUM
aiua-5020	93	41	)	)	PUNCT
aiua-5020	93	42	.	.	PUNCT
aiua-5020	94	1	current	current	ADJ
aiua-5020	94	2	research	research	NOUN
aiua-5020	94	3	into	into	ADP
aiua-5020	94	4	igs	igs	PROPN
aiua-5020	94	5	explores	explore	NOUN
aiua-5020	94	6	the	the	DET
aiua-5020	94	7	compatibility	compatibility	NOUN
aiua-5020	94	8	of	of	ADP
aiua-5020	94	9	various	various	ADJ
aiua-5020	94	10	systems	system	NOUN
aiua-5020	94	11	and	and	CCONJ
aiua-5020	94	12	their	their	PRON
aiua-5020	94	13	accuracy	accuracy	NOUN
aiua-5020	94	14	.	.	PUNCT
aiua-5020	95	1	however	however	ADV
aiua-5020	95	2	,	,	PUNCT
aiua-5020	95	3	the	the	DET
aiua-5020	95	4	true	true	ADJ
aiua-5020	95	5	effectiveness	effectiveness	NOUN
aiua-5020	95	6	of	of	ADP
aiua-5020	95	7	igs	igs	PROPN
aiua-5020	95	8	will	will	AUX
aiua-5020	95	9	be	be	AUX
aiua-5020	95	10	based	base	VERB
aiua-5020	95	11	upon	upon	SCONJ
aiua-5020	95	12	improvements	improvement	NOUN
aiua-5020	95	13	to	to	ADP
aiua-5020	95	14	clinical	clinical	ADJ
aiua-5020	95	15	outcome	outcome	NOUN
aiua-5020	95	16	.	.	PUNCT
aiua-5020	96	1	evidence	evidence	NOUN
aiua-5020	96	2	from	from	ADP
aiua-5020	96	3	table	table	NOUN
aiua-5020	96	4	2	2	NUM
aiua-5020	96	5	show	show	VERB
aiua-5020	96	6	two	two	NUM
aiua-5020	96	7	studies	study	NOUN
aiua-5020	96	8	,	,	PUNCT
aiua-5020	96	9	teber	teber	NOUN
aiua-5020	96	10	et	et	PROPN
aiua-5020	96	11	al	al	PROPN
aiua-5020	96	12	.	.	PROPN
aiua-5020	97	1	(	(	PUNCT
aiua-5020	97	2	15	15	NUM
aiua-5020	97	3	)	)	PUNCT
aiua-5020	97	4	and	and	CCONJ
aiua-5020	97	5	hung	hang	VERB
aiua-5020	97	6	et	et	PROPN
aiua-5020	97	7	al	al	PROPN
aiua-5020	97	8	.	.	PUNCT
aiua-5020	98	1	(	(	PUNCT
aiua-5020	98	2	16	16	NUM
aiua-5020	98	3	)	)	PUNCT
aiua-5020	98	4	,	,	PUNCT
aiua-5020	98	5	in	in	ADP
aiua-5020	98	6	which	which	PRON
aiua-5020	98	7	the	the	DET
aiua-5020	98	8	majority	majority	NOUN
aiua-5020	98	9	,	,	PUNCT
aiua-5020	98	10	if	if	SCONJ
aiua-5020	98	11	not	not	PART
aiua-5020	98	12	all	all	DET
aiua-5020	98	13	the	the	DET
aiua-5020	98	14	patients	patient	NOUN
aiua-5020	98	15	had	have	VERB
aiua-5020	98	16	tumour	tumour	NOUN
aiua-5020	98	17	-	-	PUNCT
aiua-5020	98	18	free	free	ADJ
aiua-5020	98	19	margins	margin	NOUN
aiua-5020	98	20	.	.	PUNCT
aiua-5020	99	1	the	the	DET
aiua-5020	99	2	ability	ability	NOUN
aiua-5020	99	3	to	to	PART
aiua-5020	99	4	assess	assess	VERB
aiua-5020	99	5	clinical	clinical	ADJ
aiua-5020	99	6	outcome	outcome	NOUN
aiua-5020	99	7	is	be	AUX
aiua-5020	99	8	limited	limit	VERB
aiua-5020	99	9	in	in	ADP
aiua-5020	99	10	these	these	DET
aiua-5020	99	11	cases	case	NOUN
aiua-5020	99	12	because	because	SCONJ
aiua-5020	99	13	of	of	ADP
aiua-5020	99	14	the	the	DET
aiua-5020	99	15	small	small	ADJ
aiua-5020	99	16	sample	sample	NOUN
aiua-5020	99	17	size	size	NOUN
aiua-5020	99	18	and	and	CCONJ
aiua-5020	99	19	the	the	DET
aiua-5020	99	20	lack	lack	NOUN
aiua-5020	99	21	of	of	ADP
aiua-5020	99	22	247archivio	247archivio	PROPN
aiua-5020	99	23	italiano	italiano	NOUN
aiua-5020	99	24	di	di	X
aiua-5020	99	25	urologia	urologia	PROPN
aiua-5020	99	26	e	e	PROPN
aiua-5020	99	27	andrologia	andrologia	NOUN
aiua-5020	99	28	2014	2014	NUM
aiua-5020	99	29	;	;	PUNCT
aiua-5020	99	30	86	86	NUM
aiua-5020	99	31	,	,	PUNCT
aiua-5020	99	32	4	4	NUM
aiua-5020	99	33	image	image	NOUN
aiua-5020	99	34	guided	guide	VERB
aiua-5020	99	35	robotic	robotic	ADJ
aiua-5020	99	36	surgery	surgery	NOUN
aiua-5020	99	37	:	:	PUNCT
aiua-5020	99	38	current	current	ADJ
aiua-5020	99	39	evidence	evidence	NOUN
aiua-5020	99	40	for	for	ADP
aiua-5020	99	41	effectiveness	effectiveness	NOUN
aiua-5020	99	42	in	in	ADP
aiua-5020	99	43	urology	urology	NOUN
aiua-5020	99	44	figure	figure	NOUN
aiua-5020	99	45	2	2	NUM
aiua-5020	99	46	.	.	PUNCT
aiua-5020	99	47	concept	concept	NOUN
aiua-5020	99	48	of	of	ADP
aiua-5020	99	49	the	the	DET
aiua-5020	99	50	image	image	NOUN
aiua-5020	99	51	guided	guide	VERB
aiua-5020	99	52	surgery	surgery	NOUN
aiua-5020	99	53	system	system	NOUN
aiua-5020	99	54	.	.	PUNCT
aiua-5020	100	1	figure	figure	NOUN
aiua-5020	100	2	1	1	NUM
aiua-5020	100	3	.	.	PUNCT
aiua-5020	100	4	display	display	NOUN
aiua-5020	100	5	screen	screen	NOUN
aiua-5020	100	6	for	for	ADP
aiua-5020	100	7	laproscopic	laproscopic	NOUN
aiua-5020	100	8	radical	radical	ADJ
aiua-5020	100	9	prostatectomy	prostatectomy	NOUN
aiua-5020	100	10	with	with	ADP
aiua-5020	100	11	pre	pre	ADJ
aiua-5020	100	12	-	-	ADJ
aiua-5020	100	13	operative	operative	ADJ
aiua-5020	100	14	mri	mri	NOUN
aiua-5020	100	15	image	image	NOUN
aiua-5020	100	16	overlay	overlay	NOUN
aiua-5020	100	17	and	and	CCONJ
aiua-5020	100	18	surgical	surgical	ADJ
aiua-5020	100	19	tool	tool	NOUN
aiua-5020	100	20	tracking	tracking	NOUN
aiua-5020	100	21	(	(	PUNCT
aiua-5020	100	22	12	12	NUM
aiua-5020	100	23	)	)	PUNCT
aiua-5020	100	24	.	.	PUNCT
aiua-5020	101	1	pre	pre	ADJ
aiua-5020	101	2	-	-	ADJ
aiua-5020	101	3	operative	operative	ADJ
aiua-5020	101	4	imaging	imaging	NOUN
aiua-5020	101	5	image	image	NOUN
aiua-5020	101	6	processing	processing	NOUN
aiua-5020	101	7	user	user	NOUN
aiua-5020	101	8	interface	interface	NOUN
aiua-5020	101	9	intra	intra	ADJ
aiua-5020	101	10	-	-	ADJ
aiua-5020	101	11	operative	operative	ADJ
aiua-5020	101	12	intraoperative	intraoperative	ADJ
aiua-5020	101	13	imaging	imaging	NOUN
aiua-5020	101	14	image	image	NOUN
aiua-5020	101	15	registration	registration	NOUN
aiua-5020	101	16	*	*	PUNCT
aiua-5020	101	17	&	&	CCONJ
aiua-5020	101	18	surgical	surgical	ADJ
aiua-5020	101	19	tool	tool	NOUN
aiua-5020	101	20	tracking	track	VERB
aiua-5020	101	21	surgeon	surgeon	NOUN
aiua-5020	101	22	*	*	PUNCT
aiua-5020	101	23	stereotaxic	stereotaxic	ADJ
aiua-5020	101	24	rigid	rigid	ADJ
aiua-5020	101	25	frame	frame	NOUN
aiua-5020	101	26	or	or	CCONJ
aiua-5020	101	27	non	non	ADJ
aiua-5020	101	28	-	-	ADJ
aiua-5020	101	29	rigid	rigid	ADJ
aiua-5020	101	30	fiducial	fiducial	ADJ
aiua-5020	101	31	point	point	NOUN
aiua-5020	101	32	alignment	alignment	NOUN
aiua-5020	101	33	display	display	NOUN
aiua-5020	101	34	workstation	workstation	NOUN
aiua-5020	101	35	author	author	NOUN
aiua-5020	101	36	speciality	speciality	NOUN
aiua-5020	101	37	procedure	procedure	NOUN
aiua-5020	101	38	sample	sample	NOUN
aiua-5020	101	39	size	size	NOUN
aiua-5020	101	40	imaging	imaging	NOUN
aiua-5020	101	41	modality	modality	NOUN
aiua-5020	101	42	accuracy	accuracy	NOUN
aiua-5020	101	43	clinical	clinical	ADJ
aiua-5020	101	44	outcome	outcome	NOUN
aiua-5020	101	45	thompson	thompson	PROPN
aiua-5020	101	46	et	et	PROPN
aiua-5020	101	47	al	al	PROPN
aiua-5020	101	48	.	.	PUNCT
aiua-5020	102	1	(	(	PUNCT
aiua-5020	102	2	12	12	NUM
aiua-5020	102	3	)	)	PUNCT
aiua-5020	102	4	urology	urology	NOUN
aiua-5020	102	5	robot	robot	NOUN
aiua-5020	102	6	assisted	assist	VERB
aiua-5020	102	7	13	13	NUM
aiua-5020	102	8	human	human	ADJ
aiua-5020	102	9	patients	patient	NOUN
aiua-5020	102	10	pre	pre	ADJ
aiua-5020	102	11	-	-	NOUN
aiua-5020	102	12	op	op	NOUN
aiua-5020	102	13	mri	mri	NOUN
aiua-5020	102	14	rms	rm	NOUN
aiua-5020	102	15	error	error	NOUN
aiua-5020	102	16	5	5	NUM
aiua-5020	102	17	mm	mm	INTJ
aiua-5020	102	18	no	no	DET
aiua-5020	102	19	measureable	measureable	ADJ
aiua-5020	102	20	change	change	NOUN
aiua-5020	102	21	prostatectomy	prostatectomy	ADV
aiua-5020	102	22	in	in	ADP
aiua-5020	102	23	clinical	clinical	ADJ
aiua-5020	102	24	outcome	outcome	NOUN
aiua-5020	102	25	but	but	CCONJ
aiua-5020	102	26	helpful	helpful	ADJ
aiua-5020	102	27	to	to	ADP
aiua-5020	102	28	the	the	DET
aiua-5020	102	29	surgeon	surgeon	NOUN
aiua-5020	102	30	teber	teber	NOUN
aiua-5020	102	31	et	et	PROPN
aiua-5020	102	32	al	al	PROPN
aiua-5020	102	33	.	.	PROPN
aiua-5020	103	1	(	(	PUNCT
aiua-5020	103	2	13	13	NUM
aiua-5020	103	3	)	)	PUNCT
aiua-5020	103	4	urology	urology	NOUN
aiua-5020	103	5	robot	robot	NOUN
aiua-5020	103	6	assisted	assist	VERB
aiua-5020	103	7	laparoscopic	laparoscopic	NOUN
aiua-5020	103	8	10	10	NUM
aiua-5020	103	9	porcine	porcine	NOUN
aiua-5020	103	10	models	model	NOUN
aiua-5020	103	11	and	and	CCONJ
aiua-5020	103	12	pre	pre	NOUN
aiua-5020	103	13	-	-	NOUN
aiua-5020	103	14	op	op	ADJ
aiua-5020	103	15	ct	ct	NOUN
aiua-5020	103	16	error	error	NOUN
aiua-5020	103	17	margin	margin	NOUN
aiua-5020	103	18	0.5	0.5	NUM
aiua-5020	103	19	mm	mm	NOUN
aiua-5020	103	20	tumour	tumour	NOUN
aiua-5020	103	21	-	-	PUNCT
aiua-5020	103	22	free	free	ADJ
aiua-5020	103	23	margins	margin	NOUN
aiua-5020	103	24	partial	partial	ADJ
aiua-5020	103	25	nephrectomy	nephrectomy	ADV
aiua-5020	103	26	10	10	NUM
aiua-5020	103	27	human	human	ADJ
aiua-5020	103	28	patients	patient	NOUN
aiua-5020	103	29	in	in	ADP
aiua-5020	103	30	all	all	DET
aiua-5020	103	31	10	10	NUM
aiua-5020	103	32	cases	case	NOUN
aiua-5020	103	33	tobis	tobis	ADJ
aiua-5020	103	34	et	et	PROPN
aiua-5020	103	35	al	al	PROPN
aiua-5020	103	36	.	.	PUNCT
aiua-5020	104	1	(	(	PUNCT
aiua-5020	104	2	14	14	NUM
aiua-5020	104	3	)	)	PUNCT
aiua-5020	104	4	urology	urology	NOUN
aiua-5020	104	5	robot	robot	NOUN
aiua-5020	104	6	assisted	assist	VERB
aiua-5020	104	7	laparoscopic	laparoscopic	NOUN
aiua-5020	104	8	11	11	NUM
aiua-5020	104	9	human	human	ADJ
aiua-5020	104	10	patients	patient	NOUN
aiua-5020	104	11	intra	intra	ADJ
aiua-5020	104	12	-	-	NOUN
aiua-5020	104	13	op	op	NOUN
aiua-5020	104	14	near	near	ADP
aiua-5020	104	15	infrared	infrared	ADJ
aiua-5020	104	16	improved	improve	VERB
aiua-5020	104	17	visualisation	visualisation	NOUN
aiua-5020	104	18	partial	partial	ADJ
aiua-5020	104	19	nephrectomy	nephrectomy	ADJ
aiua-5020	104	20	fluorescence	fluorescence	NOUN
aiua-5020	104	21	imaging	imaging	NOUN
aiua-5020	104	22	of	of	ADP
aiua-5020	104	23	renal	renal	ADJ
aiua-5020	104	24	vasculature	vasculature	NOUN
aiua-5020	104	25	&	&	CCONJ
aiua-5020	104	26	ability	ability	NOUN
aiua-5020	104	27	to	to	PART
aiua-5020	104	28	differentiate	differentiate	VERB
aiua-5020	104	29	renal	renal	ADJ
aiua-5020	104	30	tumours	tumour	NOUN
aiua-5020	104	31	from	from	ADP
aiua-5020	104	32	normal	normal	ADJ
aiua-5020	104	33	parenchyma	parenchyma	NOUN
aiua-5020	104	34	su	su	PROPN
aiua-5020	104	35	et	et	PROPN
aiua-5020	104	36	al	al	PROPN
aiua-5020	104	37	.	.	PROPN
aiua-5020	105	1	(	(	PUNCT
aiua-5020	105	2	15	15	NUM
aiua-5020	105	3	)	)	PUNCT
aiua-5020	105	4	urology	urology	NOUN
aiua-5020	105	5	robot	robot	NOUN
aiua-5020	105	6	assisted	assist	VERB
aiua-5020	105	7	laparoscopic	laparoscopic	NOUN
aiua-5020	105	8	2	2	NUM
aiua-5020	105	9	human	human	ADJ
aiua-5020	105	10	patients	patient	NOUN
aiua-5020	105	11	pre	pre	VERB
aiua-5020	105	12	-	-	NOUN
aiua-5020	105	13	op	op	ADJ
aiua-5020	105	14	ct	ct	NUM
aiua-5020	105	15	1	1	NUM
aiua-5020	105	16	mm	mm	NOUN
aiua-5020	105	17	partial	partial	ADJ
aiua-5020	105	18	nephrectomy	nephrectomy	NOUN
aiua-5020	105	19	hung	hang	VERB
aiua-5020	105	20	et	et	PROPN
aiua-5020	105	21	al	al	PROPN
aiua-5020	105	22	.	.	PROPN
aiua-5020	106	1	(	(	PUNCT
aiua-5020	106	2	22	22	NUM
aiua-5020	106	3	)	)	PUNCT
aiua-5020	106	4	urology	urology	NOUN
aiua-5020	106	5	robot	robot	NOUN
aiua-5020	106	6	assisted	assist	VERB
aiua-5020	106	7	prostatectomy	prostatectomy	ADP
aiua-5020	106	8	10	10	NUM
aiua-5020	106	9	human	human	ADJ
aiua-5020	106	10	patients	patient	NOUN
aiua-5020	106	11	intra	intra	ADJ
aiua-5020	106	12	-	-	ADJ
aiua-5020	106	13	op	op	ADJ
aiua-5020	106	14	trus	trus	NOUN
aiua-5020	106	15	negative	negative	ADJ
aiua-5020	106	16	margins	margin	NOUN
aiua-5020	106	17	in	in	ADP
aiua-5020	106	18	9/10	9/10	NUM
aiua-5020	106	19	rms	rm	NOUN
aiua-5020	106	20	:	:	PUNCT
aiua-5020	106	21	root	root	NOUN
aiua-5020	106	22	mean	mean	PROPN
aiua-5020	106	23	square	square	ADJ
aiua-5020	106	24	,	,	PUNCT
aiua-5020	106	25	trus	trus	NOUN
aiua-5020	106	26	:	:	PUNCT
aiua-5020	106	27	transrectal	transrectal	ADJ
aiua-5020	106	28	ultrasound	ultrasound	NOUN
aiua-5020	106	29	,	,	PUNCT
aiua-5020	106	30	pre	pre	NOUN
aiua-5020	106	31	-	-	NOUN
aiua-5020	106	32	op	op	NOUN
aiua-5020	106	33	:	:	PUNCT
aiua-5020	106	34	pre	pre	ADJ
aiua-5020	106	35	-	-	ADJ
aiua-5020	106	36	operative	operative	ADJ
aiua-5020	106	37	,	,	PUNCT
aiua-5020	106	38	intra	intra	NOUN
aiua-5020	106	39	-	-	NOUN
aiua-5020	106	40	op	op	NOUN
aiua-5020	106	41	:	:	PUNCT
aiua-5020	106	42	ntra	ntra	ADJ
aiua-5020	106	43	-	-	ADJ
aiua-5020	106	44	operative	operative	ADJ
aiua-5020	106	45	.	.	PUNCT
aiua-5020	107	1	table	table	NOUN
aiua-5020	107	2	2	2	NUM
aiua-5020	107	3	.	.	PUNCT
aiua-5020	107	4	current	current	ADJ
aiua-5020	107	5	literature	literature	NOUN
aiua-5020	107	6	in	in	ADP
aiua-5020	107	7	image	image	NOUN
aiua-5020	107	8	-	-	PUNCT
aiua-5020	107	9	guided	guide	VERB
aiua-5020	107	10	robotic	robotic	ADJ
aiua-5020	107	11	urology	urology	NOUN
aiua-5020	107	12	.	.	PUNCT
aiua-5020	108	1	pervez_stesura	pervez_stesura	PROPN
aiua-5020	108	2	seveso	seveso	VERB
aiua-5020	108	3	15/01/15	15/01/15	NUM
aiua-5020	108	4	12:53	12:53	NUM
aiua-5020	108	5	pagina	pagina	NOUN
aiua-5020	108	6	247	247	NUM
aiua-5020	108	7	archivio	archivio	NOUN
aiua-5020	108	8	italiano	italiano	NOUN
aiua-5020	108	9	di	di	X
aiua-5020	108	10	urologia	urologia	PROPN
aiua-5020	108	11	e	e	PROPN
aiua-5020	108	12	andrologia	andrologia	NOUN
aiua-5020	108	13	2014	2014	NUM
aiua-5020	108	14	;	;	PUNCT
aiua-5020	108	15	86	86	NUM
aiua-5020	108	16	,	,	PUNCT
aiua-5020	108	17	4	4	NUM
aiua-5020	108	18	anum	anum	PROPN
aiua-5020	108	19	pervez	pervez	PROPN
aiua-5020	108	20	,	,	PUNCT
aiua-5020	108	21	kamran	kamran	PROPN
aiua-5020	108	22	ahmed	ahmed	PROPN
aiua-5020	108	23	,	,	PUNCT
aiua-5020	108	24	stephen	stephen	PROPN
aiua-5020	108	25	thompson	thompson	PROPN
aiua-5020	108	26	,	,	PUNCT
aiua-5020	108	27	oussama	oussama	PROPN
aiua-5020	108	28	elhage	elhage	PROPN
aiua-5020	108	29	,	,	PUNCT
aiua-5020	108	30	m	m	PROPN
aiua-5020	108	31	shamim	shamim	PROPN
aiua-5020	108	32	khan	khan	PROPN
aiua-5020	108	33	,	,	PUNCT
aiua-5020	108	34	prokar	prokar	PROPN
aiua-5020	108	35	dasgupta	dasgupta	VERB
aiua-5020	108	36	248	248	NUM
aiua-5020	108	37	control	control	NOUN
aiua-5020	108	38	groups	group	NOUN
aiua-5020	108	39	.	.	PUNCT
aiua-5020	109	1	a	a	DET
aiua-5020	109	2	study	study	NOUN
aiua-5020	109	3	by	by	ADP
aiua-5020	109	4	thompson	thompson	PROPN
aiua-5020	109	5	et	et	PROPN
aiua-5020	109	6	al	al	PROPN
aiua-5020	109	7	.	.	PUNCT
aiua-5020	110	1	(	(	PUNCT
aiua-5020	110	2	12	12	NUM
aiua-5020	110	3	)	)	PUNCT
aiua-5020	110	4	on	on	ADP
aiua-5020	110	5	the	the	DET
aiua-5020	110	6	other	other	ADJ
aiua-5020	110	7	hand	hand	NOUN
aiua-5020	110	8	reported	report	VERB
aiua-5020	110	9	no	no	DET
aiua-5020	110	10	changes	change	NOUN
aiua-5020	110	11	to	to	ADP
aiua-5020	110	12	clinical	clinical	ADJ
aiua-5020	110	13	outcome	outcome	NOUN
aiua-5020	110	14	.	.	PUNCT
aiua-5020	111	1	they	they	PRON
aiua-5020	111	2	did	do	AUX
aiua-5020	111	3	highlight	highlight	VERB
aiua-5020	111	4	however	however	ADV
aiua-5020	111	5	,	,	PUNCT
aiua-5020	111	6	that	that	SCONJ
aiua-5020	111	7	the	the	DET
aiua-5020	111	8	igs	igs	PROPN
aiua-5020	111	9	system	system	NOUN
aiua-5020	111	10	was	be	AUX
aiua-5020	111	11	found	find	VERB
aiua-5020	111	12	to	to	PART
aiua-5020	111	13	be	be	AUX
aiua-5020	111	14	very	very	ADV
aiua-5020	111	15	helpful	helpful	ADJ
aiua-5020	111	16	by	by	ADP
aiua-5020	111	17	the	the	DET
aiua-5020	111	18	operating	operating	NOUN
aiua-5020	111	19	surgeon	surgeon	NOUN
aiua-5020	111	20	.	.	PUNCT
aiua-5020	112	1	challenges	challenge	NOUN
aiua-5020	112	2	in	in	ADP
aiua-5020	112	3	image	image	NOUN
aiua-5020	112	4	-	-	PUNCT
aiua-5020	112	5	guided	guide	VERB
aiua-5020	112	6	robotic	robotic	ADJ
aiua-5020	112	7	urology	urology	NOUN
aiua-5020	112	8	the	the	DET
aiua-5020	112	9	igs	igs	PROPN
aiua-5020	112	10	system	system	NOUN
aiua-5020	112	11	does	do	AUX
aiua-5020	112	12	have	have	VERB
aiua-5020	112	13	some	some	DET
aiua-5020	112	14	challenges	challenge	NOUN
aiua-5020	112	15	,	,	PUNCT
aiua-5020	112	16	which	which	PRON
aiua-5020	112	17	need	need	VERB
aiua-5020	112	18	to	to	PART
aiua-5020	112	19	be	be	AUX
aiua-5020	112	20	addressed	address	VERB
aiua-5020	112	21	.	.	PUNCT
aiua-5020	113	1	one	one	NUM
aiua-5020	113	2	of	of	ADP
aiua-5020	113	3	the	the	DET
aiua-5020	113	4	main	main	ADJ
aiua-5020	113	5	considerations	consideration	NOUN
aiua-5020	113	6	is	be	AUX
aiua-5020	113	7	creating	create	VERB
aiua-5020	113	8	a	a	DET
aiua-5020	113	9	highly	highly	ADV
aiua-5020	113	10	accurate	accurate	ADJ
aiua-5020	113	11	system	system	NOUN
aiua-5020	113	12	for	for	ADP
aiua-5020	113	13	image	image	NOUN
aiua-5020	113	14	registration	registration	NOUN
aiua-5020	113	15	,	,	PUNCT
aiua-5020	113	16	which	which	PRON
aiua-5020	113	17	accounts	account	VERB
aiua-5020	113	18	for	for	ADP
aiua-5020	113	19	soft	soft	ADJ
aiua-5020	113	20	tissue	tissue	NOUN
aiua-5020	113	21	deformation	deformation	NOUN
aiua-5020	113	22	.	.	PUNCT
aiua-5020	114	1	as	as	SCONJ
aiua-5020	114	2	the	the	DET
aiua-5020	114	3	majority	majority	NOUN
aiua-5020	114	4	of	of	ADP
aiua-5020	114	5	current	current	ADJ
aiua-5020	114	6	igs	igs	PROPN
aiua-5020	114	7	requires	require	VERB
aiua-5020	114	8	manual	manual	ADJ
aiua-5020	114	9	processing	processing	NOUN
aiua-5020	114	10	and	and	CCONJ
aiua-5020	114	11	registration	registration	NOUN
aiua-5020	114	12	,	,	PUNCT
aiua-5020	114	13	it	it	PRON
aiua-5020	114	14	can	can	AUX
aiua-5020	114	15	be	be	AUX
aiua-5020	114	16	susceptible	susceptible	ADJ
aiua-5020	114	17	to	to	ADP
aiua-5020	114	18	human	human	ADJ
aiua-5020	114	19	error	error	NOUN
aiua-5020	114	20	.	.	PUNCT
aiua-5020	115	1	for	for	ADP
aiua-5020	115	2	example	example	NOUN
aiua-5020	115	3	,	,	PUNCT
aiua-5020	115	4	if	if	SCONJ
aiua-5020	115	5	the	the	DET
aiua-5020	115	6	image	image	NOUN
aiua-5020	115	7	is	be	AUX
aiua-5020	115	8	aligned	align	VERB
aiua-5020	115	9	in	in	ADP
aiua-5020	115	10	the	the	DET
aiua-5020	115	11	wrong	wrong	ADJ
aiua-5020	115	12	location	location	NOUN
aiua-5020	115	13	or	or	CCONJ
aiua-5020	115	14	the	the	DET
aiua-5020	115	15	wrong	wrong	ADJ
aiua-5020	115	16	blood	blood	NOUN
aiua-5020	115	17	vessels	vessel	NOUN
aiua-5020	115	18	displayed	display	VERB
aiua-5020	115	19	,	,	PUNCT
aiua-5020	115	20	it	it	PRON
aiua-5020	115	21	can	can	AUX
aiua-5020	115	22	have	have	VERB
aiua-5020	115	23	devastating	devastating	ADJ
aiua-5020	115	24	affects	affect	NOUN
aiua-5020	115	25	on	on	ADP
aiua-5020	115	26	the	the	DET
aiua-5020	115	27	surgical	surgical	ADJ
aiua-5020	115	28	outcome	outcome	NOUN
aiua-5020	115	29	.	.	PUNCT
aiua-5020	116	1	furthermore	furthermore	ADV
aiua-5020	116	2	,	,	PUNCT
aiua-5020	116	3	the	the	DET
aiua-5020	116	4	computer	computer	NOUN
aiua-5020	116	5	interface	interface	NOUN
aiua-5020	116	6	must	must	AUX
aiua-5020	116	7	be	be	AUX
aiua-5020	116	8	relatively	relatively	ADV
aiua-5020	116	9	easy	easy	ADJ
aiua-5020	116	10	to	to	PART
aiua-5020	116	11	operate	operate	VERB
aiua-5020	116	12	by	by	ADP
aiua-5020	116	13	the	the	DET
aiua-5020	116	14	surgeon	surgeon	NOUN
aiua-5020	116	15	.	.	PUNCT
aiua-5020	117	1	if	if	SCONJ
aiua-5020	117	2	the	the	DET
aiua-5020	117	3	system	system	NOUN
aiua-5020	117	4	is	be	AUX
aiua-5020	117	5	complex	complex	ADJ
aiua-5020	117	6	it	it	PRON
aiua-5020	117	7	may	may	AUX
aiua-5020	117	8	act	act	VERB
aiua-5020	117	9	as	as	ADP
aiua-5020	117	10	a	a	DET
aiua-5020	117	11	rather	rather	ADV
aiua-5020	117	12	dangerous	dangerous	ADJ
aiua-5020	117	13	distraction	distraction	NOUN
aiua-5020	117	14	.	.	PUNCT
aiua-5020	118	1	therefore	therefore	ADV
aiua-5020	118	2	a	a	DET
aiua-5020	118	3	simple	simple	ADJ
aiua-5020	118	4	but	but	CCONJ
aiua-5020	118	5	yet	yet	ADV
aiua-5020	118	6	accurate	accurate	ADJ
aiua-5020	118	7	system	system	NOUN
aiua-5020	118	8	is	be	AUX
aiua-5020	118	9	as	as	ADP
aiua-5020	118	10	previously	previously	ADV
aiua-5020	118	11	discussed	discuss	VERB
aiua-5020	118	12	,	,	PUNCT
aiua-5020	118	13	the	the	DET
aiua-5020	118	14	current	current	ADJ
aiua-5020	118	15	trials	trial	NOUN
aiua-5020	118	16	using	use	VERB
aiua-5020	118	17	igs	ig	NOUN
aiua-5020	118	18	have	have	VERB
aiua-5020	118	19	small	small	ADJ
aiua-5020	118	20	sample	sample	NOUN
aiua-5020	118	21	sizes	size	NOUN
aiua-5020	118	22	.	.	PUNCT
aiua-5020	119	1	this	this	PRON
aiua-5020	119	2	makes	make	VERB
aiua-5020	119	3	studying	study	VERB
aiua-5020	119	4	the	the	DET
aiua-5020	119	5	efficacy	efficacy	NOUN
aiua-5020	119	6	of	of	ADP
aiua-5020	119	7	the	the	DET
aiua-5020	119	8	system	system	NOUN
aiua-5020	119	9	difficult	difficult	ADJ
aiua-5020	119	10	.	.	PUNCT
aiua-5020	120	1	therefore	therefore	ADV
aiua-5020	120	2	randomised	randomise	VERB
aiua-5020	120	3	clinical	clinical	ADJ
aiua-5020	120	4	trials	trial	NOUN
aiua-5020	120	5	comparing	compare	VERB
aiua-5020	120	6	igs	igs	PROPN
aiua-5020	120	7	to	to	ADP
aiua-5020	120	8	non	non	ADJ
aiua-5020	120	9	-	-	ADJ
aiua-5020	120	10	igs	ig	NOUN
aiua-5020	120	11	are	be	AUX
aiua-5020	120	12	required	require	VERB
aiua-5020	120	13	to	to	PART
aiua-5020	120	14	assess	assess	VERB
aiua-5020	120	15	there	there	PRON
aiua-5020	120	16	is	be	VERB
aiua-5020	120	17	an	an	DET
aiua-5020	120	18	improvement	improvement	NOUN
aiua-5020	120	19	to	to	ADP
aiua-5020	120	20	clinical	clinical	ADJ
aiua-5020	120	21	outcome	outcome	NOUN
aiua-5020	120	22	.	.	PUNCT
aiua-5020	121	1	table	table	NOUN
aiua-5020	121	2	1	1	NUM
aiua-5020	121	3	has	have	AUX
aiua-5020	121	4	also	also	ADV
aiua-5020	121	5	highlighted	highlight	VERB
aiua-5020	121	6	some	some	DET
aiua-5020	121	7	issues	issue	NOUN
aiua-5020	121	8	with	with	ADP
aiua-5020	121	9	the	the	DET
aiua-5020	121	10	imaging	imaging	NOUN
aiua-5020	121	11	modalities	modality	NOUN
aiua-5020	121	12	that	that	PRON
aiua-5020	121	13	are	be	AUX
aiua-5020	121	14	currently	currently	ADV
aiua-5020	121	15	being	be	AUX
aiua-5020	121	16	used	use	VERB
aiua-5020	121	17	for	for	ADP
aiua-5020	121	18	igs	igs	PROPN
aiua-5020	121	19	.	.	PROPN
aiua-5020	122	1	for	for	ADP
aiua-5020	122	2	example	example	NOUN
aiua-5020	122	3	radiation	radiation	NOUN
aiua-5020	122	4	risk	risk	NOUN
aiua-5020	122	5	of	of	ADP
aiua-5020	122	6	intra	intra	ADJ
aiua-5020	122	7	-	-	ADJ
aiua-5020	122	8	operative	operative	ADJ
aiua-5020	122	9	ct	ct	PROPN
aiua-5020	122	10	scans	scan	NOUN
aiua-5020	122	11	and	and	CCONJ
aiua-5020	122	12	the	the	DET
aiua-5020	122	13	size	size	NOUN
aiua-5020	122	14	of	of	ADP
aiua-5020	122	15	mri	mri	NOUN
aiua-5020	122	16	machines	machine	NOUN
aiua-5020	122	17	in	in	ADP
aiua-5020	122	18	the	the	DET
aiua-5020	122	19	operating	operating	NOUN
aiua-5020	122	20	theatre	theatre	NOUN
aiua-5020	122	21	.	.	PUNCT
aiua-5020	123	1	these	these	DET
aiua-5020	123	2	issues	issue	NOUN
aiua-5020	123	3	create	create	VERB
aiua-5020	123	4	difficulty	difficulty	NOUN
aiua-5020	123	5	for	for	SCONJ
aiua-5020	123	6	igs	igs	PROPN
aiua-5020	123	7	to	to	PART
aiua-5020	123	8	be	be	AUX
aiua-5020	123	9	adopted	adopt	VERB
aiua-5020	123	10	widely	widely	ADV
aiua-5020	123	11	.	.	PUNCT
aiua-5020	124	1	a	a	DET
aiua-5020	124	2	question	question	NOUN
aiua-5020	124	3	yet	yet	ADV
aiua-5020	124	4	to	to	PART
aiua-5020	124	5	be	be	AUX
aiua-5020	124	6	considered	consider	VERB
aiua-5020	124	7	,	,	PUNCT
aiua-5020	124	8	is	be	AUX
aiua-5020	124	9	the	the	DET
aiua-5020	124	10	cost	cost	NOUN
aiua-5020	124	11	of	of	ADP
aiua-5020	124	12	these	these	DET
aiua-5020	124	13	systems	system	NOUN
aiua-5020	124	14	.	.	PUNCT
aiua-5020	125	1	the	the	DET
aiua-5020	125	2	cost	cost	NOUN
aiua-5020	125	3	of	of	ADP
aiua-5020	125	4	implementing	implement	VERB
aiua-5020	125	5	igs	ig	NOUN
aiua-5020	125	6	in	in	ADP
aiua-5020	125	7	most	most	ADJ
aiua-5020	125	8	cases	case	NOUN
aiua-5020	125	9	is	be	AUX
aiua-5020	125	10	negligible	negligible	ADJ
aiua-5020	125	11	as	as	SCONJ
aiua-5020	125	12	the	the	DET
aiua-5020	125	13	imaging	imaging	NOUN
aiua-5020	125	14	modalities	modality	NOUN
aiua-5020	125	15	and	and	CCONJ
aiua-5020	125	16	surgical	surgical	ADJ
aiua-5020	125	17	tools	tool	NOUN
aiua-5020	125	18	are	be	AUX
aiua-5020	125	19	already	already	ADV
aiua-5020	125	20	in	in	ADP
aiua-5020	125	21	common	common	ADJ
aiua-5020	125	22	practise	practise	NOUN
aiua-5020	125	23	.	.	PUNCT
aiua-5020	126	1	however	however	ADV
aiua-5020	126	2	,	,	PUNCT
aiua-5020	126	3	the	the	DET
aiua-5020	126	4	purpose	purpose	NOUN
aiua-5020	126	5	of	of	ADP
aiua-5020	126	6	igs	igs	PROPN
aiua-5020	126	7	is	be	AUX
aiua-5020	126	8	to	to	PART
aiua-5020	126	9	offer	offer	VERB
aiua-5020	126	10	minimally	minimally	ADV
aiua-5020	126	11	invasive	invasive	VERB
aiua-5020	126	12	surgery	surgery	NOUN
aiua-5020	126	13	to	to	ADP
aiua-5020	126	14	a	a	DET
aiua-5020	126	15	patient	patient	NOUN
aiua-5020	126	16	who	who	PRON
aiua-5020	126	17	would	would	AUX
aiua-5020	126	18	have	have	AUX
aiua-5020	126	19	otherwise	otherwise	ADV
aiua-5020	126	20	required	require	VERB
aiua-5020	126	21	open	open	ADJ
aiua-5020	126	22	surgery	surgery	NOUN
aiua-5020	126	23	.	.	PUNCT
aiua-5020	127	1	therefore	therefore	ADV
aiua-5020	127	2	analysing	analyse	VERB
aiua-5020	127	3	the	the	DET
aiua-5020	127	4	improvement	improvement	NOUN
aiua-5020	127	5	to	to	ADP
aiua-5020	127	6	clinical	clinical	ADJ
aiua-5020	127	7	outcome	outcome	NOUN
aiua-5020	127	8	will	will	AUX
aiua-5020	127	9	be	be	AUX
aiua-5020	127	10	difficult	difficult	ADJ
aiua-5020	127	11	to	to	PART
aiua-5020	127	12	perform	perform	VERB
aiua-5020	127	13	.	.	PUNCT
aiua-5020	128	1	for	for	ADP
aiua-5020	128	2	example	example	NOUN
aiua-5020	128	3	,	,	PUNCT
aiua-5020	128	4	if	if	SCONJ
aiua-5020	128	5	igs	igs	PROPN
aiua-5020	128	6	is	be	AUX
aiua-5020	128	7	successful	successful	ADJ
aiua-5020	128	8	in	in	ADP
aiua-5020	128	9	improving	improve	VERB
aiua-5020	128	10	tumour	tumour	ADJ
aiua-5020	128	11	resection	resection	NOUN
aiua-5020	128	12	margin	margin	NOUN
aiua-5020	128	13	,	,	PUNCT
aiua-5020	128	14	it	it	PRON
aiua-5020	128	15	could	could	AUX
aiua-5020	128	16	potentially	potentially	ADV
aiua-5020	128	17	improve	improve	VERB
aiua-5020	128	18	cancer	cancer	NOUN
aiua-5020	128	19	outcomes	outcome	NOUN
aiua-5020	128	20	but	but	CCONJ
aiua-5020	128	21	this	this	PRON
aiua-5020	128	22	will	will	AUX
aiua-5020	128	23	require	require	VERB
aiua-5020	128	24	a	a	DET
aiua-5020	128	25	long	long	ADJ
aiua-5020	128	26	-	-	PUNCT
aiua-5020	128	27	term	term	NOUN
aiua-5020	128	28	study	study	NOUN
aiua-5020	128	29	design	design	NOUN
aiua-5020	128	30	for	for	ADP
aiua-5020	128	31	conclusive	conclusive	ADJ
aiua-5020	128	32	evidence	evidence	NOUN
aiua-5020	128	33	.	.	PUNCT
aiua-5020	129	1	future	future	NOUN
aiua-5020	129	2	of	of	ADP
aiua-5020	129	3	igs	igs	PROPN
aiua-5020	129	4	igs	igs	PROPN
aiua-5020	129	5	has	have	VERB
aiua-5020	129	6	the	the	DET
aiua-5020	129	7	potential	potential	NOUN
aiua-5020	129	8	to	to	PART
aiua-5020	129	9	resolve	resolve	VERB
aiua-5020	129	10	the	the	DET
aiua-5020	129	11	visibility	visibility	NOUN
aiua-5020	129	12	issues	issue	NOUN
aiua-5020	129	13	encountered	encounter	VERB
aiua-5020	129	14	in	in	ADP
aiua-5020	129	15	robotic	robotic	ADJ
aiua-5020	129	16	urology	urology	NOUN
aiua-5020	129	17	.	.	PUNCT
aiua-5020	130	1	however	however	ADV
aiua-5020	130	2	for	for	SCONJ
aiua-5020	130	3	the	the	DET
aiua-5020	130	4	igs	igs	PROPN
aiua-5020	130	5	system	system	NOUN
aiua-5020	130	6	to	to	PART
aiua-5020	130	7	be	be	AUX
aiua-5020	130	8	adopted	adopt	VERB
aiua-5020	130	9	,	,	PUNCT
aiua-5020	130	10	further	further	ADJ
aiua-5020	130	11	research	research	NOUN
aiua-5020	130	12	must	must	AUX
aiua-5020	130	13	be	be	AUX
aiua-5020	130	14	performed	perform	VERB
aiua-5020	130	15	on	on	ADP
aiua-5020	130	16	creating	create	VERB
aiua-5020	130	17	a	a	DET
aiua-5020	130	18	successful	successful	ADJ
aiua-5020	130	19	automated	automate	VERB
aiua-5020	130	20	system	system	NOUN
aiua-5020	130	21	that	that	PRON
aiua-5020	130	22	can	can	AUX
aiua-5020	130	23	integrate	integrate	VERB
aiua-5020	130	24	with	with	ADP
aiua-5020	130	25	the	the	DET
aiua-5020	130	26	intra	intra	ADJ
aiua-5020	130	27	-	-	ADJ
aiua-5020	130	28	operative	operative	ADJ
aiua-5020	130	29	interface	interface	NOUN
aiua-5020	130	30	and	and	CCONJ
aiua-5020	130	31	account	account	NOUN
aiua-5020	130	32	for	for	ADP
aiua-5020	130	33	soft	soft	ADJ
aiua-5020	130	34	tissue	tissue	NOUN
aiua-5020	130	35	deformation	deformation	NOUN
aiua-5020	130	36	.	.	PUNCT
aiua-5020	131	1	simulations	simulation	NOUN
aiua-5020	131	2	and	and	CCONJ
aiua-5020	131	3	training	training	NOUN
aiua-5020	131	4	may	may	AUX
aiua-5020	131	5	also	also	ADV
aiua-5020	131	6	be	be	AUX
aiua-5020	131	7	a	a	DET
aiua-5020	131	8	future	future	ADJ
aiua-5020	131	9	use	use	NOUN
aiua-5020	131	10	of	of	ADP
aiua-5020	131	11	igs	igs	PROPN
aiua-5020	131	12	.	.	PUNCT
aiua-5020	132	1	the	the	DET
aiua-5020	132	2	creation	creation	NOUN
aiua-5020	132	3	of	of	ADP
aiua-5020	132	4	an	an	DET
aiua-5020	132	5	augmented	augment	VERB
aiua-5020	132	6	virtual	virtual	ADJ
aiua-5020	132	7	reality	reality	NOUN
aiua-5020	132	8	model	model	NOUN
aiua-5020	132	9	could	could	AUX
aiua-5020	132	10	offer	offer	VERB
aiua-5020	132	11	an	an	DET
aiua-5020	132	12	excellent	excellent	ADJ
aiua-5020	132	13	teaching	teaching	NOUN
aiua-5020	132	14	tool	tool	NOUN
aiua-5020	132	15	.	.	PUNCT
aiua-5020	133	1	therefore	therefore	ADV
aiua-5020	133	2	procedures	procedure	NOUN
aiua-5020	133	3	and	and	CCONJ
aiua-5020	133	4	therapies	therapy	NOUN
aiua-5020	133	5	could	could	AUX
aiua-5020	133	6	be	be	AUX
aiua-5020	133	7	trialled	trialle	VERB
aiua-5020	133	8	on	on	ADP
aiua-5020	133	9	virtual	virtual	ADJ
aiua-5020	133	10	reality	reality	NOUN
aiua-5020	133	11	simulators	simulator	NOUN
aiua-5020	133	12	before	before	ADP
aiua-5020	133	13	being	be	AUX
aiua-5020	133	14	transferred	transfer	VERB
aiua-5020	133	15	to	to	ADP
aiua-5020	133	16	patients	patient	NOUN
aiua-5020	133	17	(	(	PUNCT
aiua-5020	133	18	9	9	NUM
aiua-5020	133	19	)	)	PUNCT
aiua-5020	133	20	.	.	PUNCT
aiua-5020	134	1	acknowledgements	acknowledgement	NOUN
aiua-5020	134	2	nicholas	nicholas	PROPN
aiua-5020	134	3	chang	chang	PROPN
aiua-5020	134	4	,	,	PUNCT
aiua-5020	134	5	medical	medical	ADJ
aiua-5020	134	6	student	student	NOUN
aiua-5020	134	7	,	,	PUNCT
aiua-5020	134	8	kings	king	NOUN
aiua-5020	134	9	college	college	PROPN
aiua-5020	134	10	london	london	PROPN
aiua-5020	134	11	.	.	PUNCT
aiua-5020	135	1	this	this	DET
aiua-5020	135	2	research	research	NOUN
aiua-5020	135	3	was	be	AUX
aiua-5020	135	4	supported	support	VERB
aiua-5020	135	5	by	by	ADP
aiua-5020	135	6	the	the	DET
aiua-5020	135	7	national	national	PROPN
aiua-5020	135	8	institute	institute	PROPN
aiua-5020	135	9	for	for	ADP
aiua-5020	135	10	health	health	NOUN
aiua-5020	135	11	research	research	NOUN
aiua-5020	135	12	(	(	PUNCT
aiua-5020	135	13	nihr	nihr	ADJ
aiua-5020	135	14	)	)	PUNCT
aiua-5020	135	15	biomedical	biomedical	ADJ
aiua-5020	135	16	research	research	NOUN
aiua-5020	135	17	centre	centre	NOUN
aiua-5020	135	18	based	base	VERB
aiua-5020	135	19	at	at	ADP
aiua-5020	135	20	guy	guy	NOUN
aiua-5020	135	21	’s	’s	PART
aiua-5020	135	22	and	and	CCONJ
aiua-5020	135	23	st	st	PROPN
aiua-5020	135	24	thomas	thomas	PROPN
aiua-5020	135	25	’	'	PUNCT
aiua-5020	135	26	nhs	nhs	PROPN
aiua-5020	135	27	foundation	foundation	PROPN
aiua-5020	135	28	trust	trust	PROPN
aiua-5020	135	29	and	and	CCONJ
aiua-5020	135	30	king	king	NOUN
aiua-5020	135	31	’s	’s	PART
aiua-5020	135	32	college	college	PROPN
aiua-5020	135	33	london	london	PROPN
aiua-5020	135	34	.	.	PUNCT
aiua-5020	136	1	the	the	DET
aiua-5020	136	2	project	project	NOUN
aiua-5020	136	3	is	be	AUX
aiua-5020	136	4	also	also	ADV
aiua-5020	136	5	supported	support	VERB
aiua-5020	136	6	by	by	ADP
aiua-5020	136	7	the	the	DET
aiua-5020	136	8	simulate	simulate	NOUN
aiua-5020	136	9	(	(	PUNCT
aiua-5020	136	10	national	national	ADJ
aiua-5020	136	11	initiative	initiative	NOUN
aiua-5020	136	12	for	for	ADP
aiua-5020	136	13	simulation	simulation	NOUN
aiua-5020	136	14	training	training	NOUN
aiua-5020	136	15	in	in	ADP
aiua-5020	136	16	urology	urology	NOUN
aiua-5020	136	17	)	)	PUNCT
aiua-5020	136	18	,	,	PUNCT
aiua-5020	136	19	the	the	DET
aiua-5020	136	20	urology	urology	NOUN
aiua-5020	136	21	foundation	foundation	NOUN
aiua-5020	136	22	(	(	PUNCT
aiua-5020	136	23	tuf	tuf	NOUN
aiua-5020	136	24	)	)	PUNCT
aiua-5020	136	25	and	and	CCONJ
aiua-5020	136	26	the	the	DET
aiua-5020	136	27	royal	royal	ADJ
aiua-5020	136	28	college	college	NOUN
aiua-5020	136	29	of	of	ADP
aiua-5020	136	30	surgeons	surgeon	NOUN
aiua-5020	136	31	of	of	ADP
aiua-5020	136	32	england	england	PROPN
aiua-5020	136	33	.	.	PUNCT
aiua-5020	137	1	the	the	DET
aiua-5020	137	2	views	view	NOUN
aiua-5020	137	3	expressed	express	VERB
aiua-5020	137	4	are	be	AUX
aiua-5020	137	5	those	those	PRON
aiua-5020	137	6	of	of	ADP
aiua-5020	137	7	the	the	DET
aiua-5020	137	8	author(s	author(s	NOUN
aiua-5020	137	9	)	)	PUNCT
aiua-5020	137	10	,	,	PUNCT
aiua-5020	137	11	based	base	VERB
aiua-5020	137	12	on	on	ADP
aiua-5020	137	13	the	the	DET
aiua-5020	137	14	research	research	NOUN
aiua-5020	137	15	outcomes	outcome	NOUN
aiua-5020	137	16	.	.	PUNCT
aiua-5020	138	1	references	reference	NOUN
aiua-5020	138	2	1	1	NUM
aiua-5020	138	3	.	.	PUNCT
aiua-5020	138	4	perrin	perrin	PROPN
aiua-5020	138	5	dp1	dp1	PROPN
aiua-5020	138	6	,	,	PUNCT
aiua-5020	138	7	vasilyev	vasilyev	PROPN
aiua-5020	138	8	nv	nv	PROPN
aiua-5020	138	9	,	,	PUNCT
aiua-5020	138	10	novotny	novotny	PROPN
aiua-5020	138	11	p	p	PROPN
aiua-5020	138	12	,	,	PUNCT
aiua-5020	138	13	et	et	PROPN
aiua-5020	138	14	al	al	PROPN
aiua-5020	138	15	.	.	PUNCT
aiua-5020	138	16	image	image	NOUN
aiua-5020	138	17	guided	guide	VERB
aiua-5020	138	18	surgical	surgical	ADJ
aiua-5020	138	19	interventions	intervention	NOUN
aiua-5020	138	20	:	:	PUNCT
aiua-5020	138	21	curr	curr	PROPN
aiua-5020	138	22	probl	probl	PROPN
aiua-5020	138	23	surg	surg	PROPN
aiua-5020	138	24	.	.	PUNCT
aiua-5020	139	1	2009	2009	NUM
aiua-5020	139	2	;	;	PUNCT
aiua-5020	139	3	46:730	46:730	NUM
aiua-5020	139	4	-	-	SYM
aiua-5020	139	5	66	66	NUM
aiua-5020	139	6	..	..	SYM
aiua-5020	139	7	2	2	X
aiua-5020	139	8	.	.	X
aiua-5020	139	9	medtronic	medtronic	ADJ
aiua-5020	139	10	.	.	PUNCT
aiua-5020	140	1	image	image	NOUN
aiua-5020	140	2	-	-	PUNCT
aiua-5020	140	3	guided	guide	VERB
aiua-5020	140	4	surgery	surgery	NOUN
aiua-5020	140	5	overview	overview	NOUN
aiua-5020	140	6	[	[	X
aiua-5020	140	7	cited	cite	VERB
aiua-5020	140	8	2012	2012	NUM
aiua-5020	140	9	24	24	NUM
aiua-5020	140	10	november	november	PROPN
aiua-5020	140	11	]	]	PUNCT
aiua-5020	140	12	.	.	PUNCT
aiua-5020	141	1	available	available	ADJ
aiua-5020	141	2	from	from	ADP
aiua-5020	141	3	:	:	PUNCT
aiua-5020	141	4	http://wwwp.medtronic.com/newsroom/	http://wwwp.medtronic.com/newsroom/	NOUN
aiua-5020	141	5	linkeditemdetails.do?itemid=1101831118967&itemtype=backgrounder&lang=en_us	linkeditemdetails.do?itemid=1101831118967&itemtype=backgrounder&lang=en_us	NOUN
aiua-5020	141	6	.	.	PUNCT
aiua-5020	142	1	3	3	X
aiua-5020	142	2	.	.	X
aiua-5020	142	3	de	de	X
aiua-5020	142	4	nigris	nigris	PROPN
aiua-5020	142	5	d	d	PROPN
aiua-5020	142	6	,	,	PUNCT
aiua-5020	142	7	collins	collins	PROPN
aiua-5020	142	8	d	d	PROPN
aiua-5020	142	9	,	,	PUNCT
aiua-5020	142	10	arbel	arbel	PROPN
aiua-5020	142	11	t.	t.	PROPN
aiua-5020	142	12	multi	multi	ADJ
aiua-5020	142	13	-	-	ADJ
aiua-5020	142	14	modal	modal	ADJ
aiua-5020	142	15	image	image	NOUN
aiua-5020	142	16	registration	registration	NOUN
aiua-5020	142	17	based	base	VERB
aiua-5020	142	18	on	on	ADP
aiua-5020	142	19	gradient	gradient	ADJ
aiua-5020	142	20	orientations	orientation	NOUN
aiua-5020	142	21	of	of	ADP
aiua-5020	142	22	minimal	minimal	ADJ
aiua-5020	142	23	uncertainty	uncertainty	NOUN
aiua-5020	142	24	.	.	PUNCT
aiua-5020	143	1	ieee	ieee	PROPN
aiua-5020	143	2	trans	trans	PROPN
aiua-5020	143	3	med	med	PROPN
aiua-5020	143	4	imaging	imaging	NOUN
aiua-5020	143	5	.	.	PUNCT
aiua-5020	144	1	2012	2012	NUM
aiua-5020	144	2	;	;	PUNCT
aiua-5020	144	3	31:2343	31:2343	PROPN
aiua-5020	144	4	-	-	SYM
aiua-5020	144	5	54	54	NUM
aiua-5020	144	6	.	.	PUNCT
aiua-5020	145	1	4	4	X
aiua-5020	145	2	.	.	X
aiua-5020	145	3	ukimura	ukimura	PROPN
aiua-5020	145	4	o.	o.	PROPN
aiua-5020	145	5	image	image	NOUN
aiua-5020	145	6	-	-	PUNCT
aiua-5020	145	7	guided	guide	VERB
aiua-5020	145	8	surgery	surgery	NOUN
aiua-5020	145	9	in	in	ADP
aiua-5020	145	10	minimally	minimally	ADV
aiua-5020	145	11	invasive	invasive	ADJ
aiua-5020	145	12	urology	urology	NOUN
aiua-5020	145	13	.	.	PUNCT
aiua-5020	146	1	curr	curr	PROPN
aiua-5020	146	2	opin	opin	PROPN
aiua-5020	146	3	urol	urol	PROPN
aiua-5020	146	4	.	.	PUNCT
aiua-5020	147	1	2010	2010	NUM
aiua-5020	147	2	;	;	PUNCT
aiua-5020	147	3	20:136	20:136	NUM
aiua-5020	147	4	-	-	SYM
aiua-5020	147	5	140	140	NUM
aiua-5020	147	6	.	.	NOUN
aiua-5020	148	1	5	5	NUM
aiua-5020	148	2	.	.	X
aiua-5020	148	3	voxelera	voxelera	NOUN
aiua-5020	148	4	.	.	PUNCT
aiua-5020	149	1	part	part	NOUN
aiua-5020	150	1	i	i	NOUN
aiua-5020	150	2	:	:	PUNCT
aiua-5020	150	3	commonly	commonly	ADV
aiua-5020	150	4	used	use	VERB
aiua-5020	150	5	radiological	radiological	ADJ
aiua-5020	150	6	imaging	imaging	NOUN
aiua-5020	150	7	modalities	modality	NOUN
aiua-5020	150	8	jan	jan	PROPN
aiua-5020	150	9	2006	2006	NUM
aiua-5020	150	10	[	[	X
aiua-5020	150	11	cited	cite	VERB
aiua-5020	150	12	2012	2012	NUM
aiua-5020	150	13	dec	dec	PROPN
aiua-5020	150	14	5th	5th	NOUN
aiua-5020	150	15	]	]	PUNCT
aiua-5020	150	16	.	.	PUNCT
aiua-5020	151	1	available	available	ADJ
aiua-5020	151	2	from	from	ADP
aiua-5020	151	3	:	:	PUNCT
aiua-5020	151	4	http://www.voxelera.co.uk/downloads/tablepart1_jan2006.pdf	http://www.voxelera.co.uk/downloads/tablepart1_jan2006.pdf	PROPN
aiua-5020	151	5	.	.	NOUN
aiua-5020	152	1	6	6	NUM
aiua-5020	152	2	.	.	X
aiua-5020	152	3	voxelera	voxelera	NOUN
aiua-5020	152	4	.	.	PUNCT
aiua-5020	153	1	part	part	NOUN
aiua-5020	153	2	ii	ii	PROPN
aiua-5020	153	3	:	:	PUNCT
aiua-5020	153	4	less	less	ADV
aiua-5020	153	5	commonly	commonly	ADV
aiua-5020	153	6	used	use	VERB
aiua-5020	153	7	in	in	ADP
aiua-5020	153	8	vivo	vivo	ADJ
aiua-5020	153	9	imaging	imaging	NOUN
aiua-5020	153	10	modalities	modality	NOUN
aiua-5020	153	11	may	may	AUX
aiua-5020	153	12	2006	2006	NUM
aiua-5020	153	13	[	[	X
aiua-5020	153	14	cited	cite	VERB
aiua-5020	153	15	2012	2012	NUM
aiua-5020	153	16	dec	dec	PROPN
aiua-5020	153	17	5th	5th	NOUN
aiua-5020	153	18	]	]	PUNCT
aiua-5020	153	19	.	.	PUNCT
aiua-5020	154	1	available	available	ADJ
aiua-5020	154	2	from	from	ADP
aiua-5020	154	3	:	:	PUNCT
aiua-5020	154	4	http://www.voxelera.co.uk/downloads/tablepart2_may2006.pdf	http://www.voxelera.co.uk/downloads/tablepart2_may2006.pdf	PROPN
aiua-5020	154	5	.	.	PROPN
aiua-5020	154	6	7	7	X
aiua-5020	154	7	.	.	X
aiua-5020	154	8	thompson	thompson	PROPN
aiua-5020	154	9	s	s	PROPN
aiua-5020	154	10	,	,	PUNCT
aiua-5020	154	11	penney	penney	PROPN
aiua-5020	154	12	g	g	PROPN
aiua-5020	154	13	,	,	PUNCT
aiua-5020	154	14	buie	buie	PROPN
aiua-5020	154	15	d	d	PROPN
aiua-5020	154	16	,	,	PUNCT
aiua-5020	154	17	et	et	PROPN
aiua-5020	154	18	al	al	PROPN
aiua-5020	154	19	.	.	PUNCT
aiua-5020	155	1	use	use	NOUN
aiua-5020	155	2	of	of	ADP
aiua-5020	155	3	a	a	DET
aiua-5020	155	4	ct	ct	NUM
aiua-5020	155	5	statistical	statistical	ADJ
aiua-5020	155	6	deformation	deformation	NOUN
aiua-5020	155	7	model	model	NOUN
aiua-5020	155	8	for	for	ADP
aiua-5020	155	9	multi	multi	ADJ
aiua-5020	155	10	-	-	ADJ
aiua-5020	155	11	modal	modal	ADJ
aiua-5020	155	12	pelvic	pelvic	ADJ
aiua-5020	155	13	bone	bone	NOUN
aiua-5020	155	14	segmentation	segmentation	NOUN
aiua-5020	155	15	.	.	PUNCT
aiua-5020	156	1	in	in	ADP
aiua-5020	156	2	:	:	PUNCT
aiua-5020	156	3	medical	medical	ADJ
aiua-5020	156	4	imaging	imaging	NOUN
aiua-5020	156	5	2008	2008	NUM
aiua-5020	156	6	:	:	PUNCT
aiua-5020	156	7	image	image	NOUN
aiua-5020	156	8	processing	processing	NOUN
aiua-5020	156	9	.	.	PUNCT
aiua-5020	156	10	;	;	PUNCT
aiua-5020	156	11	vol	vol	NOUN
aiua-5020	156	12	.	.	NOUN
aiua-5020	156	13	6914	6914	NUM
aiua-5020	156	14	of	of	ADP
aiua-5020	156	15	proceedings	proceeding	NOUN
aiua-5020	156	16	of	of	ADP
aiua-5020	156	17	the	the	DET
aiua-5020	156	18	spie	spie	NOUN
aiua-5020	156	19	.	.	PUNCT
aiua-5020	156	20	2008	2008	NUM
aiua-5020	156	21	.	.	PUNCT
aiua-5020	157	1	8	8	NUM
aiua-5020	157	2	.	.	X
aiua-5020	157	3	herrell	herrell	PROPN
aiua-5020	157	4	sd	sd	PROPN
aiua-5020	157	5	,	,	PUNCT
aiua-5020	157	6	galloway	galloway	PROPN
aiua-5020	157	7	rl	rl	PROPN
aiua-5020	157	8	,	,	PUNCT
aiua-5020	157	9	su	su	PROPN
aiua-5020	157	10	lm	lm	PROPN
aiua-5020	157	11	.	.	PUNCT
aiua-5020	157	12	image	image	NOUN
aiua-5020	157	13	-	-	PUNCT
aiua-5020	157	14	guided	guide	VERB
aiua-5020	157	15	robotic	robotic	ADJ
aiua-5020	157	16	surgery	surgery	NOUN
aiua-5020	157	17	:	:	PUNCT
aiua-5020	157	18	update	update	NOUN
aiua-5020	157	19	on	on	ADP
aiua-5020	157	20	research	research	NOUN
aiua-5020	157	21	and	and	CCONJ
aiua-5020	157	22	potential	potential	ADJ
aiua-5020	157	23	applications	application	NOUN
aiua-5020	157	24	in	in	ADP
aiua-5020	157	25	urologic	urologic	ADJ
aiua-5020	157	26	surgery	surgery	NOUN
aiua-5020	157	27	.	.	PUNCT
aiua-5020	158	1	curr	curr	PROPN
aiua-5020	158	2	opin	opin	PROPN
aiua-5020	158	3	urol	urol	PROPN
aiua-5020	158	4	.	.	PUNCT
aiua-5020	158	5	2012	2012	NUM
aiua-5020	158	6	;	;	PUNCT
aiua-5020	158	7	22:47	22:47	NUM
aiua-5020	158	8	-	-	SYM
aiua-5020	158	9	54	54	NUM
aiua-5020	158	10	.	.	PUNCT
aiua-5020	159	1	9	9	X
aiua-5020	159	2	.	.	X
aiua-5020	159	3	peters	peters	PROPN
aiua-5020	159	4	tm	tm	PROPN
aiua-5020	159	5	.	.	PROPN
aiua-5020	159	6	image	image	NOUN
aiua-5020	159	7	-	-	PUNCT
aiua-5020	159	8	guided	guide	VERB
aiua-5020	159	9	surgery	surgery	NOUN
aiua-5020	159	10	and	and	CCONJ
aiua-5020	159	11	therapy	therapy	NOUN
aiua-5020	159	12	:	:	PUNCT
aiua-5020	159	13	current	current	ADJ
aiua-5020	159	14	status	status	NOUN
aiua-5020	159	15	and	and	CCONJ
aiua-5020	159	16	future	future	ADJ
aiua-5020	159	17	directions	direction	NOUN
aiua-5020	159	18	.	.	PUNCT
aiua-5020	160	1	in	in	ADP
aiua-5020	160	2	:	:	PUNCT
aiua-5020	160	3	mun	mun	PROPN
aiua-5020	160	4	sk	sk	PROPN
aiua-5020	160	5	,	,	PUNCT
aiua-5020	160	6	editor	editor	NOUN
aiua-5020	160	7	.	.	PUNCT
aiua-5020	161	1	medical	medical	ADJ
aiua-5020	161	2	imaging	imaging	NOUN
aiua-5020	161	3	2001	2001	NUM
aiua-5020	161	4	:	:	PUNCT
aiua-5020	161	5	visualization	visualization	NOUN
aiua-5020	161	6	,	,	PUNCT
aiua-5020	161	7	display	display	NOUN
aiua-5020	161	8	,	,	PUNCT
aiua-5020	161	9	and	and	CCONJ
aiua-5020	161	10	image	image	NOUN
aiua-5020	161	11	-	-	PUNCT
aiua-5020	161	12	guided	guide	VERB
aiua-5020	161	13	procedures	procedure	NOUN
aiua-5020	161	14	;	;	PUNCT
aiua-5020	161	15	san	san	PROPN
aiua-5020	161	16	diego	diego	PROPN
aiua-5020	161	17	,	,	PUNCT
aiua-5020	161	18	cafebruary	cafebruary	NOUN
aiua-5020	161	19	17	17	NUM
aiua-5020	161	20	,	,	PUNCT
aiua-5020	161	21	2001	2001	NUM
aiua-5020	161	22	.	.	PUNCT
aiua-5020	162	1	10	10	NUM
aiua-5020	162	2	.	.	X
aiua-5020	162	3	crum	crum	PROPN
aiua-5020	162	4	wr	wr	PROPN
aiua-5020	162	5	,	,	PUNCT
aiua-5020	162	6	hartkens	hartkens	PROPN
aiua-5020	162	7	t	t	PROPN
aiua-5020	162	8	,	,	PUNCT
aiua-5020	162	9	hill	hill	PROPN
aiua-5020	162	10	dl	dl	PROPN
aiua-5020	162	11	.	.	PROPN
aiua-5020	162	12	non	non	ADJ
aiua-5020	162	13	-	-	ADJ
aiua-5020	162	14	rigid	rigid	ADJ
aiua-5020	162	15	image	image	NOUN
aiua-5020	162	16	registration	registration	NOUN
aiua-5020	162	17	:	:	PUNCT
aiua-5020	162	18	theory	theory	NOUN
aiua-5020	162	19	and	and	CCONJ
aiua-5020	162	20	practice	practice	NOUN
aiua-5020	162	21	.	.	PUNCT
aiua-5020	163	1	br	br	PROPN
aiua-5020	163	2	j	j	PROPN
aiua-5020	163	3	radiol	radiol	PROPN
aiua-5020	163	4	.	.	PUNCT
aiua-5020	164	1	2004	2004	NUM
aiua-5020	164	2	;	;	PUNCT
aiua-5020	164	3	77	77	NUM
aiua-5020	164	4	spec	spec	NOUN
aiua-5020	164	5	no	no	PRON
aiua-5020	164	6	2	2	NUM
aiua-5020	164	7	:	:	PUNCT
aiua-5020	164	8	s140	s140	PROPN
aiua-5020	164	9	-	-	SYM
aiua-5020	164	10	53	53	NUM
aiua-5020	164	11	.	.	PUNCT
aiua-5020	164	12	11	11	NUM
aiua-5020	164	13	.	.	PUNCT
aiua-5020	165	1	mascott	mascott	PROPN
aiua-5020	165	2	cr	cr	PROPN
aiua-5020	165	3	.	.	PUNCT
aiua-5020	166	1	comparison	comparison	NOUN
aiua-5020	166	2	of	of	ADP
aiua-5020	166	3	magnetic	magnetic	ADJ
aiua-5020	166	4	tracking	tracking	NOUN
aiua-5020	166	5	and	and	CCONJ
aiua-5020	166	6	optical	optical	ADJ
aiua-5020	166	7	tracking	tracking	NOUN
aiua-5020	166	8	by	by	ADP
aiua-5020	166	9	simultaneous	simultaneous	ADJ
aiua-5020	166	10	use	use	NOUN
aiua-5020	166	11	of	of	ADP
aiua-5020	166	12	two	two	NUM
aiua-5020	166	13	independent	independent	ADJ
aiua-5020	166	14	frameless	frameless	ADJ
aiua-5020	166	15	stereotactic	stereotactic	NOUN
aiua-5020	166	16	systems	system	NOUN
aiua-5020	166	17	.	.	PUNCT
aiua-5020	167	1	neurosurgery	neurosurgery	NOUN
aiua-5020	167	2	.	.	PUNCT
aiua-5020	168	1	2005	2005	NUM
aiua-5020	168	2	;	;	PUNCT
aiua-5020	168	3	57:295	57:295	NUM
aiua-5020	168	4	-	-	SYM
aiua-5020	168	5	301	301	NUM
aiua-5020	168	6	;	;	PUNCT
aiua-5020	168	7	discussion	discussion	NOUN
aiua-5020	168	8	295	295	NUM
aiua-5020	168	9	-	-	SYM
aiua-5020	168	10	301	301	NUM
aiua-5020	168	11	.	.	PUNCT
aiua-5020	168	12	12	12	NUM
aiua-5020	168	13	.	.	PUNCT
aiua-5020	169	1	thompson	thompson	NOUN
aiua-5020	169	2	s1	s1	PROPN
aiua-5020	169	3	,	,	PUNCT
aiua-5020	169	4	penney	penney	NOUN
aiua-5020	169	5	g	g	PROPN
aiua-5020	169	6	,	,	PUNCT
aiua-5020	169	7	billia	billia	PROPN
aiua-5020	169	8	m	m	PROPN
aiua-5020	169	9	,	,	PUNCT
aiua-5020	169	10	et	et	PROPN
aiua-5020	169	11	al	al	PROPN
aiua-5020	169	12	.	.	PROPN
aiua-5020	169	13	design	design	NOUN
aiua-5020	169	14	and	and	CCONJ
aiua-5020	169	15	evaluation	evaluation	NOUN
aiua-5020	169	16	of	of	ADP
aiua-5020	169	17	an	an	DET
aiua-5020	169	18	image	image	NOUN
aiua-5020	169	19	guidance	guidance	NOUN
aiua-5020	169	20	system	system	NOUN
aiua-5020	169	21	for	for	ADP
aiua-5020	169	22	robot	robot	NOUN
aiua-5020	169	23	assisted	assist	VERB
aiua-5020	169	24	radical	radical	ADJ
aiua-5020	169	25	prostatectomy	prostatectomy	NOUN
aiua-5020	169	26	.	.	PUNCT
aiua-5020	170	1	bju	bju	NOUN
aiua-5020	170	2	int	int	PROPN
aiua-5020	170	3	.	.	PUNCT
aiua-5020	171	1	2013	2013	NUM
aiua-5020	171	2	;	;	PUNCT
aiua-5020	171	3	111:1081	111:1081	NUM
aiua-5020	171	4	-	-	SYM
aiua-5020	171	5	90	90	NUM
aiua-5020	171	6	.	.	NOUN
aiua-5020	172	1	13	13	NUM
aiua-5020	172	2	.	.	PUNCT
aiua-5020	173	1	teber	teber	PROPN
aiua-5020	174	1	d	d	PROPN
aiua-5020	174	2	,	,	PUNCT
aiua-5020	174	3	guven	guven	PROPN
aiua-5020	174	4	s	s	PROPN
aiua-5020	174	5	,	,	PUNCT
aiua-5020	174	6	simpfendörfer	simpfendörfer	VERB
aiua-5020	174	7	t	t	PROPN
aiua-5020	174	8	,	,	PUNCT
aiua-5020	174	9	et	et	PROPN
aiua-5020	174	10	al	al	PROPN
aiua-5020	174	11	.	.	PROPN
aiua-5020	175	1	augmented	augment	VERB
aiua-5020	175	2	reality	reality	NOUN
aiua-5020	175	3	:	:	PUNCT
aiua-5020	175	4	a	a	DET
aiua-5020	175	5	new	new	ADJ
aiua-5020	175	6	tool	tool	NOUN
aiua-5020	175	7	to	to	PART
aiua-5020	175	8	improve	improve	VERB
aiua-5020	175	9	surgical	surgical	ADJ
aiua-5020	175	10	accuracy	accuracy	NOUN
aiua-5020	175	11	during	during	ADP
aiua-5020	175	12	laparoscopic	laparoscopic	ADJ
aiua-5020	175	13	partial	partial	ADJ
aiua-5020	175	14	nephrectomy	nephrectomy	NOUN
aiua-5020	175	15	?	?	PUNCT
aiua-5020	176	1	preliminary	preliminary	ADJ
aiua-5020	176	2	in	in	ADP
aiua-5020	176	3	vitro	vitro	X
aiua-5020	176	4	and	and	CCONJ
aiua-5020	176	5	in	in	ADP
aiua-5020	176	6	vivo	vivo	NOUN
aiua-5020	176	7	results	result	NOUN
aiua-5020	176	8	.	.	PUNCT
aiua-5020	177	1	eur	eur	PROPN
aiua-5020	177	2	urol	urol	PROPN
aiua-5020	177	3	.	.	PUNCT
aiua-5020	177	4	2009	2009	NUM
aiua-5020	177	5	;	;	PUNCT
aiua-5020	177	6	56:332	56:332	NUM
aiua-5020	177	7	-	-	SYM
aiua-5020	177	8	338	338	NUM
aiua-5020	177	9	.	.	PUNCT
aiua-5020	178	1	14	14	NUM
aiua-5020	178	2	.	.	PUNCT
aiua-5020	179	1	tobis	tobis	PROPN
aiua-5020	179	2	s	s	PROPN
aiua-5020	179	3	,	,	PUNCT
aiua-5020	179	4	knopf	knopf	PROPN
aiua-5020	179	5	j	j	PROPN
aiua-5020	179	6	,	,	PUNCT
aiua-5020	179	7	silvers	silvers	PROPN
aiua-5020	179	8	c	c	NOUN
aiua-5020	179	9	,	,	PUNCT
aiua-5020	179	10	et	et	PROPN
aiua-5020	179	11	al	al	PROPN
aiua-5020	179	12	.	.	PROPN
aiua-5020	180	1	near	near	ADP
aiua-5020	180	2	infrared	infrared	ADJ
aiua-5020	180	3	fluorescence	fluorescence	NOUN
aiua-5020	180	4	imaging	imaging	NOUN
aiua-5020	180	5	with	with	ADP
aiua-5020	180	6	robotic	robotic	ADJ
aiua-5020	180	7	assisted	assist	VERB
aiua-5020	180	8	laparoscopic	laparoscopic	ADJ
aiua-5020	180	9	partial	partial	ADJ
aiua-5020	180	10	nephrectomy	nephrectomy	NOUN
aiua-5020	180	11	:	:	PUNCT
aiua-5020	180	12	initial	initial	ADJ
aiua-5020	180	13	clinical	clinical	ADJ
aiua-5020	180	14	experience	experience	NOUN
aiua-5020	180	15	for	for	ADP
aiua-5020	180	16	renal	renal	ADJ
aiua-5020	180	17	cortical	cortical	ADJ
aiua-5020	180	18	tumors	tumor	NOUN
aiua-5020	180	19	.	.	PUNCT
aiua-5020	181	1	j	j	PROPN
aiua-5020	181	2	urol	urol	PROPN
aiua-5020	181	3	.	.	PUNCT
aiua-5020	182	1	2011	2011	NUM
aiua-5020	182	2	;	;	PUNCT
aiua-5020	182	3	186:27	186:27	NUM
aiua-5020	182	4	-	-	SYM
aiua-5020	182	5	52	52	NUM
aiua-5020	182	6	.	.	PUNCT
aiua-5020	183	1	15	15	NUM
aiua-5020	183	2	.	.	PUNCT
aiua-5020	184	1	su	su	PROPN
aiua-5020	184	2	lm	lm	PROPN
aiua-5020	184	3	,	,	PUNCT
aiua-5020	184	4	vagvolgyi	vagvolgyi	PROPN
aiua-5020	184	5	bp	bp	PROPN
aiua-5020	184	6	,	,	PUNCT
aiua-5020	184	7	agarwal	agarwal	PROPN
aiua-5020	184	8	r	r	PROPN
aiua-5020	184	9	,	,	PUNCT
aiua-5020	184	10	et	et	PROPN
aiua-5020	184	11	al	al	PROPN
aiua-5020	184	12	.	.	PROPN
aiua-5020	184	13	augmented	augment	VERB
aiua-5020	184	14	reality	reality	NOUN
aiua-5020	184	15	during	during	ADP
aiua-5020	184	16	robot	robot	NOUN
aiua-5020	184	17	-	-	PUNCT
aiua-5020	184	18	assisted	assist	VERB
aiua-5020	184	19	laparoscopic	laparoscopic	ADJ
aiua-5020	184	20	partial	partial	ADJ
aiua-5020	184	21	nephrectomy	nephrectomy	NOUN
aiua-5020	184	22	:	:	PUNCT
aiua-5020	184	23	toward	toward	ADP
aiua-5020	184	24	real	real	ADJ
aiua-5020	184	25	-	-	PUNCT
aiua-5020	184	26	time	time	NOUN
aiua-5020	184	27	3dct	3dct	NUM
aiua-5020	184	28	to	to	ADP
aiua-5020	184	29	stereoscopic	stereoscopic	ADJ
aiua-5020	184	30	video	video	NOUN
aiua-5020	184	31	registration	registration	NOUN
aiua-5020	184	32	.	.	PUNCT
aiua-5020	185	1	urology	urology	NOUN
aiua-5020	185	2	.	.	PUNCT
aiua-5020	186	1	2009	2009	NUM
aiua-5020	186	2	;	;	PUNCT
aiua-5020	186	3	73:896	73:896	NUM
aiua-5020	186	4	-	-	SYM
aiua-5020	186	5	900	900	NUM
aiua-5020	186	6	.	.	PUNCT
aiua-5020	187	1	16	16	NUM
aiua-5020	187	2	.	.	PUNCT
aiua-5020	188	1	hung	hung	PROPN
aiua-5020	188	2	aj	aj	PROPN
aiua-5020	188	3	,	,	PUNCT
aiua-5020	188	4	abreu	abreu	PROPN
aiua-5020	188	5	al	al	PROPN
aiua-5020	188	6	,	,	PUNCT
aiua-5020	188	7	shoji	shoji	PROPN
aiua-5020	188	8	s	s	PROPN
aiua-5020	188	9	,	,	PUNCT
aiua-5020	188	10	et	et	PROPN
aiua-5020	188	11	al	al	PROPN
aiua-5020	188	12	.	.	PROPN
aiua-5020	189	1	robotic	robotic	ADJ
aiua-5020	189	2	transrectal	transrectal	ADJ
aiua-5020	189	3	ultrasonography	ultrasonography	NOUN
aiua-5020	189	4	during	during	ADP
aiua-5020	189	5	robot	robot	NOUN
aiua-5020	189	6	-	-	PUNCT
aiua-5020	189	7	assisted	assist	VERB
aiua-5020	189	8	radical	radical	ADJ
aiua-5020	189	9	prostatectomy	prostatectomy	NOUN
aiua-5020	189	10	.	.	PUNCT
aiua-5020	190	1	eur	eur	PROPN
aiua-5020	190	2	urol	urol	PROPN
aiua-5020	190	3	.	.	PUNCT
aiua-5020	190	4	2012	2012	NUM
aiua-5020	190	5	;	;	PUNCT
aiua-5020	190	6	62:341	62:341	NUM
aiua-5020	190	7	-	-	SYM
aiua-5020	190	8	8	8	NUM
aiua-5020	190	9	.	.	NUM
aiua-5020	190	10	17	17	NUM
aiua-5020	190	11	.	.	PUNCT
aiua-5020	191	1	villavicencio	villavicencio	PROPN
aiua-5020	191	2	at	at	ADP
aiua-5020	191	3	,	,	PUNCT
aiua-5020	191	4	burneikiene	burneikiene	NOUN
aiua-5020	191	5	s	s	PROPN
aiua-5020	191	6	,	,	PUNCT
aiua-5020	191	7	bulsara	bulsara	ADJ
aiua-5020	191	8	kr	kr	PROPN
aiua-5020	191	9	,	,	PUNCT
aiua-5020	191	10	thramann	thramann	PROPN
aiua-5020	191	11	jj	jj	PROPN
aiua-5020	191	12	.	.	PROPN
aiua-5020	191	13	utility	utility	NOUN
aiua-5020	191	14	of	of	ADP
aiua-5020	191	15	computerized	computerized	ADJ
aiua-5020	191	16	isocentric	isocentric	NOUN
aiua-5020	191	17	floroscopy	floroscopy	NOUN
aiua-5020	191	18	for	for	ADP
aiua-5020	191	19	minimally	minimally	ADV
aiua-5020	191	20	invasive	invasive	ADJ
aiua-5020	191	21	spinal	spinal	ADJ
aiua-5020	191	22	surgical	surgical	ADJ
aiua-5020	191	23	techniques	technique	NOUN
aiua-5020	191	24	.	.	PUNCT
aiua-5020	192	1	j	j	PROPN
aiua-5020	192	2	spinal	spinal	PROPN
aiua-5020	192	3	disord	disord	NOUN
aiua-5020	192	4	tech	tech	NOUN
aiua-5020	192	5	.	.	PUNCT
aiua-5020	193	1	2005	2005	NUM
aiua-5020	193	2	;	;	PUNCT
aiua-5020	193	3	18:369	18:369	NUM
aiua-5020	193	4	-	-	SYM
aiua-5020	193	5	75	75	NUM
aiua-5020	193	6	.	.	PUNCT
aiua-5020	194	1	correspondence	correspondence	NOUN
aiua-5020	194	2	kamran	kamran	PROPN
aiua-5020	194	3	ahmed	ahmed	PROPN
aiua-5020	194	4	,	,	PUNCT
aiua-5020	194	5	mrcs	mrcs	PROPN
aiua-5020	194	6	,	,	PUNCT
aiua-5020	194	7	phd	phd	NOUN
aiua-5020	194	8	(	(	PUNCT
aiua-5020	194	9	corresponding	correspond	VERB
aiua-5020	194	10	author	author	NOUN
aiua-5020	194	11	)	)	PUNCT
aiua-5020	194	12	kamran.ahmed@kcl.ac.uk	kamran.ahmed@kcl.ac.uk	PROPN
aiua-5020	194	13	anum	anum	PROPN
aiua-5020	194	14	pervez	pervez	PROPN
aiua-5020	194	15	,	,	PUNCT
aiua-5020	194	16	bsc	bsc	PROPN
aiua-5020	194	17	stephen	stephen	PROPN
aiua-5020	194	18	thompson	thompson	PROPN
aiua-5020	194	19	,	,	PUNCT
aiua-5020	194	20	phd	phd	NOUN
aiua-5020	194	21	oussama	oussama	PROPN
aiua-5020	194	22	elhage	elhage	PROPN
aiua-5020	194	23	,	,	PUNCT
aiua-5020	194	24	mrcs	mrcs	PROPN
aiua-5020	194	25	m	m	PROPN
aiua-5020	194	26	shamim	shamim	PROPN
aiua-5020	194	27	khan	khan	PROPN
aiua-5020	194	28	,	,	PUNCT
aiua-5020	194	29	obe	obe	PROPN
aiua-5020	194	30	,	,	PUNCT
aiua-5020	194	31	frcs	frcs	PROPN
aiua-5020	194	32	(	(	PUNCT
aiua-5020	194	33	urol	urol	PROPN
aiua-5020	194	34	)	)	PUNCT
aiua-5020	194	35	,	,	PUNCT
aiua-5020	194	36	febu	febu	NOUN
aiua-5020	194	37	prokar	prokar	PROPN
aiua-5020	194	38	dasgupta	dasgupta	PROPN
aiua-5020	194	39	.	.	PROPN
aiua-5020	194	40	md	md	PROPN
aiua-5020	194	41	,	,	PUNCT
aiua-5020	194	42	frcs	frcs	PROPN
aiua-5020	194	43	(	(	PUNCT
aiua-5020	194	44	urol	urol	PROPN
aiua-5020	194	45	)	)	PUNCT
aiua-5020	194	46	,	,	PUNCT
aiua-5020	194	47	febu	febu	NOUN
aiua-5020	194	48	mrc	mrc	NOUN
aiua-5020	194	49	centre	centre	NOUN
aiua-5020	194	50	for	for	ADP
aiua-5020	194	51	transplantation	transplantation	NOUN
aiua-5020	194	52	,	,	PUNCT
aiua-5020	194	53	nihr	nihr	PROPN
aiua-5020	194	54	biomedical	biomedical	ADJ
aiua-5020	194	55	research	research	NOUN
aiua-5020	194	56	centre	centre	PROPN
aiua-5020	194	57	,	,	PUNCT
aiua-5020	194	58	king	king	NOUN
aiua-5020	194	59	’s	’s	PART
aiua-5020	194	60	health	health	NOUN
aiua-5020	194	61	partners	partner	NOUN
aiua-5020	194	62	,	,	PUNCT
aiua-5020	194	63	king	king	NOUN
aiua-5020	194	64	’s	’s	PART
aiua-5020	194	65	college	college	PROPN
aiua-5020	194	66	london	london	PROPN
aiua-5020	194	67	and	and	CCONJ
aiua-5020	194	68	department	department	PROPN
aiua-5020	194	69	of	of	ADP
aiua-5020	194	70	urology	urology	NOUN
aiua-5020	194	71	,	,	PUNCT
aiua-5020	194	72	guy	guy	NOUN
aiua-5020	194	73	’s	’s	PART
aiua-5020	194	74	hospital	hospital	NOUN
aiua-5020	194	75	,	,	PUNCT
aiua-5020	194	76	st	st	PROPN
aiua-5020	194	77	thomas	thomas	PROPN
aiua-5020	194	78	street	street	PROPN
aiua-5020	194	79	,	,	PUNCT
aiua-5020	194	80	london	london	PROPN
aiua-5020	194	81	se1	se1	PROPN
aiua-5020	194	82	9rt	9rt	PROPN
aiua-5020	194	83	pervez_stesura	pervez_stesura	PROPN
aiua-5020	194	84	seveso	seveso	VERB
aiua-5020	194	85	15/01/15	15/01/15	NUM
aiua-5020	194	86	12:53	12:53	NUM
aiua-5020	194	87	pagina	pagina	NOUN
aiua-5020	194	88	248	248	NUM