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(A) The 6D of possible prostate motion. The X-, Y-, and Z-axes represent translational motion, while pitch, roll, and yaw represent rotation around each of these axes. (B) Fiducial placement criteria for 6D tracking. (1) A minimum of three fiducials are implanted within the prostate. (2) The distance between any two fiducials must be greater than 20 mm (Spacing threshold). (3) All angles formed by the fiducial triplets must be greater than 15° (Co-linearity threshold).
