Table 3.

Summary of the registration results for the six clinical datasets using no initial alignment transformation. The results are shown for the ICP, patch ICP registration with a single feature (PICP), and patch ICP registration with multiple features (PICP2) in terms of the RMS residual between the entire surfaces as well as the homologous patch regions. Feature 1 represents the falciform ligament region and feature 2 denotes the inferior ridge region. Grossly misaligned registrations are noted with a superscript ^(†) and were determined by visual inspection.

	RMS residual (mm)			Feature 1 error (mm)			Feature 2 error (mm)
Patient	ICP	PICP	PICP2	ICP	PICP	PICP2	ICP	PICP	PICP2
1	5.2†	4.5	4.7	40.2†	1.7	1.8	107.1†	3.0	1.7
2	5.7†	6.2	7.0	43.9†	3.8	4.9	61.8†	10.9	3.4
3	7.3†	5.5	6.2	86.3†	2.6	4.2	106.3†	12.5	7.2
4	7.5†	10.8†	3.7	64.4†	7.1†	3.5	140.6†	46.3†	5.9
5	11.6†	6.6	6.4	138.6†	3.2	3.5	11.6†	5.4	5.0
6	11.3†	10.8†	5.9	74.5†	4.1†	3.7	37.5†	104.4†	3.3