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.spidertattooz.com/Beckett-s-27-Coconut-Rum-Non-Alcoholic-Spirit-375ml/