. Author manuscript; available in PMC: 2017 Jun 1.

Published in final edited form as: Int J Comput Assist Radiol Surg. 2016 Jun 1;11(6):1163–1171. doi: 10.1007/s11548-016-1406-3

Table 4.

Mean and standard deviation of re-projection error (pixel) when changing the environment

	EM Process 1 ^a	EM Process 2 ^b	Optical Process 1 ^a
Calibration RPE	1.80 ± 0.89	1.57 ± 0.66	1.30 ± 0.49
Environment-changed RPE	7.89 ± 1.43	7.76 ± 2.29	2.49 ± 0.64

Calibrate with surgical tools in the field and re-project without them

Calibrate without surgical tools in the field and re-project with them