Table 6.

The estimated 6-DOF translations and rotations and the AvDistErr relative to the external tracking estimates for 5 patient studies. EXT only in the second column indicates the external surrogate-based motion tracking. PIwoEXT implies the data-driven algorithm was run freely without the aid of external motion tracking estimates, which were used only to delineate the motion groups. PIwEXT implies the data-driven algorithm was initialized using the transformation determined from the external motion tracking system as one of the seven initialization points of the simplex optimizer.

Cases		Tx (mm)	Ty (mm)	Tz (mm)	Rotx (deg)	Roty (deg)	Rotz (deg)	AvDistErr (mm)
Patient 1	PIwoEXT	−1.73	−1.99	23.24	−0.35	−0.39	0.77	8.31
	PIwEXT	−1.56	−2.04	22.83	−0.85	−0.16	0.65	9.53
	EXT only	0.82	−0.84	20.08	3.01	−0.27	−0.02	0.00
Patient 2	PIwoEXT	11.65	3.43	−0.63	−0.65	0.11	1.66	6.68
	PIwEXT	12.86	3.71	0.25	−0.72	−0.72	2.73	4.61
	EXT only	17.98	3.04	3.32	−1.84	−0.89	3.96	0.00
Patient 3	PIwoEXT	−18.23	3.23	0.95	−0.08	−0.54	−0.58	3.74
	PIwEXT	−18.39	3.40	2.84	−0.41	−0.71	−0.39	4.54
	EXT only	−28.02	4.67	−1.59	−1.27	−4.10	1.77	0.00
Patient 4	PIwoEXT	−0.89	2.63	2.79	0.19	0.22	−0.78	4.67
	PIwEXT	−0.22	−1.30	3.01	0.14	−0.04	−0.38	1.78
	EXT only	1.12	0.51	9.11	−1.61	0.65	0.15	0.00
Patient 5	PIwoEXT	−8.85	3.16	−1.20	−0.88	1.52	1.03	4.29
	PIwEXT	−7.03	5.53	−1.34	−1.26	1.00	3.43	4.51
	EXT only	−14.43	2.65	−3.55	−0.38	−1.06	3.09	0.00