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Mean and standard deviation of the tracking error (mm) for registrations obtained with external skin fiducials only and for registrations with up to two CT-confirmed internal needle positions as additional fiducials.
| Registration Type | Number of Internal fiducials |
Tracking Error (mm) |
|---|---|---|
| Rigid | 0 | 3.8 ± 2.3 |
| Rigid | 1 | 3.0 ± 1.3 |
| Affine | 1 | 2.7 ± 1.6 |
| Rigid | 2 | 3.1 ± 2.1 |
| Affine | 2 | 2.9 ± 2.5 |
