Table 3.

Average 95% Hausdorff Distance (HD), Dice Similarity Coefficient (DSC) and total registration time measured for the two liver registration methods for five patient datasets. The first method was a direct registration of pre-procedure MR to the intra-procedure CT images, while the second method used the transformation obtained from CT to CT registration to deform and register the MR image.

Registered Images	Method 1			Method 2
	95% HD (mm)	DSC	Time (min)	95% HD (mm)	DSC	Time (min)
MR – Planning CT	3.29	0.97	19.2	3.29	0.97	19.2
MR – Targeting CT	3.9	0.94	10.2	3.5	0.96	4.6
MR – Monitoring CT	3.9	0.93	10.4	4	0.96	4.3