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. 2013 Mar 8;2:90. doi: 10.1186/2193-1801-2-90

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© Koivukangas et al; licensee Springer. 2013

This article is published under license to BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/2.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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The 3D error surfaces of the OTS (A) and the EMTS (B). The trend of error for both modalities is seen with the changes of the shading within the surfaces. The dark blue color represents 0 mm error and dark red the highest error. The orientation of the phantom with respect to the navigator is such that the optical camera pair of the OTS (A) is located perpendicularly to the right front edge and the EM field generator of the EMTS (B) perpendicularly to the right front edge, in both cases at the middle level.