Table 2.

The effects of the average 2D/3D registration error on target localization for target depths between 50 and 300 mm, given together with estimated standard deviations

	Modeled error of registration method (mm)
Lesion depth (mm)	Manual registration	Manual registration and registration algorithm	Registration algorithm stand-alone
50	6.4±3.4	2.7±2.8	3.6±2.5
100	8.7±5.3	4.1±4.8	6.2±5.1
150	11.1±7.5	5.5±7.0	8.7±7.6
200	13.4±9.8	6.9±9.2	11.2±10.2
250	15.8±12.1	8.3±11.5	13.8±12.7
300	18.1±14.4	9.7±13.7	16.3±15.2

These values are modeled using the simplified geometric approach given in the Methods section. The impact of registration error on target localization inside the body can be estimated from these data