Table 1. Comparison of results achieved by the top-ranking registration methods.

Method	TRE (mm)↓	Robustness↑	$\%\left|J\varphi \left(\text{p}\right)\right|\le 0$↓
Elastix	4.54±3.22	–	–
3D Inception-Based TransMorph	2.24±1.52	0.82±0.26	0.17±0.28
NICE-Net	1.98±1.46	0.83±0.16	0.16±0.21
Hypermorph	2.64±2.00	0.81±0.27	0.27±1.57
cLapIRN	2.03±1.31	0.80±0.25	0.23±0.18
DIRAC	1.91±1.06	0.82±0.24	0.14±0.20
DIRAC-D	1.88±1.01	0.82±0.23	0.09±0.16
Ours	1.82±0.94	0.85±0.18	0.19±0.24

Results are provided as mean ± standard deviation. ↑, higher is better; ↓, lower is better. TRE, target registration error.