Abstract Background Computer-assisted surgical navigation aims to provide surgeons with anatomical target localization and critical structure observation. where medical image processing methods such as segmentation. registration and visualization play a critical role. Percutaneous renal intervention plays an important role in several minimally-invasive surgeries of kidney. https://www.bekindtopets.com/discount-Original-U-S-Civil-War-Era-M-1840-Light-Artillery-Officers-Saber-with-Imported-Blade-Scabbard-super-save/