Fig. 1

a The AbdoMan™ phantom, showing the fillable spheres mounted in the liver insert [19]. b Schematic representation of transaxial slice of AbdoMan™ phantom showing positions of spheres (A = 20-mm sphere, B = 40-mm sphere with 25-mm solid core, C = 40-mm sphere, D = 10-mm sphere, E = 30-mm sphere) N.B. Spheres were not all located on the same slice, but are shown here on the same slice for ease