Table 5.

Summary of results for the small scale perturbation robustness trials using the clinical dataset shown in Fig. 6. The number of successful trials (out of 250), mean residual over all trails, and mean residual over successful is reported for each registration method. A successful trial is determined as that which yields a RMS residual of less than 5.0 mm over the entire surface. For reference, the gold standard ICP registration (shown in Fig. 6) yielded an RMS residual of 3.4 mm.

Registration method	Success (No.)	Residual (mm)	Residual (success) (mm)
ICP	187 (74.8%)	4.2±1.4	3.4±5e−4
PICP	228 (91.2%)	4.7±3.8	3.6±0.01
PICP2	250 (100%)	3.7±0.05	3.7±0.1