We present a probabilistic framework to perform simultaneous real-time 3D motion estimation and uncertainty quantification. We extend our preliminary work to a realistic prospective in-vivo setting, and demonstrate it on an MR-LINAC. The acquisition+processing time for 3D motion-fields is around 15ms, yielding a 67Hz frame-rate. Results indicate high quality predictions, and uncertainty estimates that could be used for real-time quality assurance during MR-guided radiotherapy on an MR-LINAC.
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