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MR to 3DEcho registration accuracy for the phantom experiments. FRE was calculated for varying numbers of fiducials used in the registration MR to EM component of the registration, and TRE was calculated using fiducials that were left out of the MR to EM component of the registration.
| Fiducials | Trials | TRE Mean (mm) ± St. Dev. |
|---|---|---|
| 3 | 35 | 3.23 ± 0.49 |
| 4 | 35 | 3.02 ± 0.30 |
| 5 | 21 | 2.96 ± 0.20 |
| 6 | 7 | 2.93 ± 0.14 |
| 7 | 1 | 2.91 |
