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LS is a recipient of the Alain Rahmouni SFR-CERF research grant provided by the French Society of Radiology together with the French Academic College of Radiology. NV is an employee of Philips Healthcare. NIH co-authors had final control over the data analysis and content of the manuscript. Philips manufactures fusion navigation tools for ultrasound (PercuNav and UroNav), some of which were used in this study. NIH and Philips have a patent licencing agreement that pays royalties from Philips to NIH, a portion of which are then shared with BW. NIH (BW) has intellectual property in the field. BW Principal investigator has a cooperative research and development agreement (CRADA) between NIH and Philips and CRADAs with industry partners unrelated to this work; travel support related to CRADAs; royalties from NIH related to Philips licencing agreement; patents planned, issued, or pending. PAP Institutional CRADA with Philips; royalties from NIH related to Philips licencing agreement; NIH-related patents planned, issued, or pending (US patent nos. 8 447 384 and 10 215830). BT has a CRADA with NVIDIA and Philips. The other authors have no conflict of interest to declare. Unrelated to this work, NIH has Cooperative Research & Development Agreements (BW is Principal Investigator) with the following: Celsion Corp, BTG Biocompatibles\/Boston Scientific, Siemens, Varian, NVIDIA, XAct Robotics, MediView, ProMaxo, DeepSight.NIH has a Material Transfer Agreement\/equipment support from Neuwave (Johnson and Johnson), who manufacture ablation devices.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interests"}},{"value":"All procedures performed in studies involving human participants were in accordance with the ethical standards of the institutional research committee and with the 1964 Helsinki Declaration and its later amendments or comparable ethical standards. The study was approved by the Institutional Ethics Committee under the approval protocol number 12CC0075-Center for Interventional Oncology, Radiology and Imaging Sciences, Clinical Center, National Institutes of Health, Bethesda, MD 20892, USA.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics Approval"}},{"value":"This paper discusses investigational devices that have not been cleared or approved for human use and uses of devices that are outside of the cleared or approved labelling (\u201coff-label use\u201d). The content of this manuscript does not necessarily reflect the views, policies, or opinions of the National Institutes of Health (NIH) nor the US Department of Health and Human Services. The mention of commercial products, their source, or their use in connection with material reported herein is not to be construed as an actual or implied endorsement of such products by the US government. Opinions expressed are those of the authors, not necessarily the NIH.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Human and Animal Rights"}},{"value":"Informed consent was obtained from all individual participants included in the study. Patients signed informed consent regarding publishing their data.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Informed Consent"}}]}}