Supporting diagnostics and therapy planning for percutaneous ablation of liver and abdominal tumors and pre-clinical evaluation

•Percutaneous ablation methods are used to treat primary and metastatic liver tumors.•A multi-stage approach has been developed to support percutaneous tumours ablation by developed image navigation system.•The presented approach was evaluated using diagnostic abdominal computed tomography images and calibration phantom.•The obtained results indicate the possibility of using the developed method of navigation in clinical practice.