Table 1.

Target registration errors (TRE) for the left and right modes of deformation. It should be noted that 43 sub-surface targets were used to compute TRE. Post-PBReg: TRE using the point-based rigid registration algorithm. Post-wICP: TRE using the wICP algorithm. TRE computed using the wICP algorithm was used as “ground truth” for the proposed computational approach. Post-Model: Target errors generated using the proposed computational approach. “Full Surface”: Deformed surface description acquired by the CT scanner. “Partial surface”: Deformed surface description acquired by the laser range scanner. Mean ± Standard deviation (maximum) of the values has reported in ‘mm’ units.

	Post-PBReg	Full Surface		Partial Surface
		Post-wICP	Post-Model	Post-wICP	Post-Model
Left	14.8 ± 8.5 (31.0)	3.2 ± 1.6 (6.8)	1.2 ± 0.9 (3.8)	4.1 ± 2.3 (11.3)	2.3 ± 2.1 (8.6)
Right	22.8 ± 8.8 (42.3)	2.7 ± 1.6 (6.7)	1.0 ± 0.8 (3.7)	4.5 ± 2.1 (10.0)	2.6 ± 1.9 (8.1)