Table 2.

Statistical characteristics of registration errors (in mm) corresponding to predefined anatomical landmarks for grouped analysis of 28 clinical studies presented in Fig. 2. $\Delta$ is calculated by a statistical test on groups which shows confidence interval for 95% degree of significance. Its range is shown by notches in the plots

	Minimum	1st Quartile	$\mathit{\text{Median}}\pm \Delta$	3rd Quartile	Maximum
Apex of right lung	0.33	3.87	$7.74\pm 2.63$	12.58	20.51
Apex of left lung	0.95	5.29	$7.46\pm 1.75$	11.07	17.61
Liver dome	0.00	8.14	$14.01\pm 4.32$	22.45	28.92
Anterior right liver border	0.84	9.14	$14.61\pm 3.29$	20.04	32.40
Anterior left liver border	3.78	7.31	$11.52\pm 3.20$	17.91	33.32
Lateral liver border	2.39	8.26	$11.98\pm 3.03$	18.29	25.97
Posterior liver border	0.00	5.32	$9.51\pm 2.58$	13.85	18.78
Inferior liver border	0.00	5.29	$7.61\pm 2.37$	13.15	22.07
Right adrenal	0.00	5.46	$8.43\pm 3.68$	17.63	33.30
Celiac trunk	0.00	4.88	$6.32\pm 3.77$	17.37	30.47
Upper tip of right kidney	0.00	4.85	$6.87\pm 1.77$	10.70	18.73
Upper tip of left kidney	2.28	4.71	$8.19\pm 1.78$	10.59	17.91
Lower tip of right kidney	0.74	3.89	$7.24\pm 2.17$	11.09	18.76
Lower tip of left kidney	0.00	5.56	$10.21\pm 3.43$	16.89	27.11
T10 vertebra	0.00	3.54	$9.25\pm 3.66$	15.64	24.49
L5 vertebra	4.55	8.48	$13.01\pm 3.48$	19.99	34.11