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Target registration error before and after needle-based tissue tracking (in vivo data)
| Test targets | Before correction (mm) | After correction with needle tracking (mm) |
|---|---|---|
| Marker-needle distance <10 mm (2 targets) | 29.4 ± 2.0 | 1.0 ± 0.2 |
| Marker-needle distance <30 mm (8 targets) | 27.1 ± 2.2 | 2.8 ± 1.5 |
| Marker-needle distance <50 mm (All 12 targets) | 28.2 ± 2.6 | 3.4 ± 1.9 |
