Table 1.

Summary of experimental and algorithmic parameters.

Simulation study
CT	Dimension	512 × 512 × 894 voxels
	Voxel size	0.73 × 0.73 × 0.50 mm3
Perturbation range (3σ)	(x, y, z)s	(±100, ±100, ±200 mm)
	(x, y, z)obj	(±100, ±100, ±200 mm)
	(η, θ, ϕ)obj	(±10°, ±10°, ±10°)
Simulated radiograph	Dimension	2560 × 3072 pixels
	Pixel size	0.139 × 0.139 mm2
Cadaver study
CT	Dimension	512 × 512 × 1427 voxels
	Voxel size	0.67 × 0.67 × 0.60 mm3
Mobile radiograph	Dimension	2560 × 3072 pixels
	Pixel size	0.139 × 0.139 mm2
	Regions	thoracic, abdominal, pelvic
	SDD	~800, ~1000, ~1200 mm
Optimization parameters
Population size		λ = 50
Number of multi-starts		N = 100
Image dimensions in	Level1	1252 pixels
multi-resolution pyramid	Level2	5002 pixels
Upper/lower bound of the	(x,y,z)s	(±100, ±100, ±200 mm)
search space	(x,y,z)obj	(±100, ±100, ±200 mm)
	(η, θ, ϕ)obj	(±10°, ±10°, ±10°)