. Author manuscript; available in PMC: 2013 Nov 25.

Published in final edited form as: J Gastrointest Surg. 2007 Jul;11(7):10.1007/s11605-007-0090-6. doi: 10.1007/s11605-007-0090-6

Table 3.

Surface Registrations Between Intraoperative Tracked Probe Data and Preoperative Surfaces

Case	No. of scan points	Registration A (manual) RMS residual (mm)	Registration B (semiautomatic) RMS residual (mm)	RMS difference (A to B) (mm)
2	1,600	6.5 (24.9)	6.7 (23.4)	2.3 (5.2)
3	500	5.7 (20.9)	5.0 (19.4)	19.5 (35.6)
4	1,500	5.0 (14.6)	4.9 (19.8)	5.6 (7.7)
5	700	6.0 (17.1)	5.9 (17.1)	6.5 (10.0)
6	2,400	3.0 (20.0)	3.0 (21.2)	1.2 (1.9)
7	1,900	6.4 (24.8)	6.4 (26.4)	2.9 (5.5)
8	2,200	6.5 (20.5)	6.0 (17.9)	3.7 (5.5)

Registration A involves manually segmented preoperative surfaces. Registration B uses surfaces from the semiautomatic level-set technique. The second column indicates the number of intraoperative data points (rounded to nearest 1,000). The third and fourth columns provide the root-mean-square (RMS) (and maximum) surface residual for registrations A and B. The final column holds the RMS difference between registrations A and B.