Table 1.

Summary of 3D–2D registration parameters and nominal values.

Parameter	Symbol	Nominal value
Initial registration	–	~5–10 mm PDE
Optimizer population (offspring) size	λ	50
Optimizer step size (standard deviation)	σ	5 {mm,°}
Optimizer (upper/lower) bounds	–	± 10 {mm,°}
Optimizer stopping criterion (fitness)	–	0.01 {mm,°}
Separation between projection views	Δθ	0°–180°
C-arm geometric magnification	m	2.0
CT voxel size (slice thickness)	az	0.6 mm
Fluoro pixel size	bu,v	0.6 mm