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. Author manuscript; available in PMC: 2018 Apr 21.
Published in final edited form as: Phys Med Biol. 2017 Feb 24;62(8):3330–3351. doi: 10.1088/1361-6560/aa62c5

Figure 4.

Figure 4

Sequential component registration with and without geometric calibration of the C-arm. (a) Positional and (b) angular TRE with and without calibration. (c–d) Visualization of aggregate registration results superimposed on post-CT (c) without calibration and (d) with calibration. The colorscale overlay represents an aggregation of registration results over 5 repeat trials. The calibrated solution is seen to improve robustness, but the single-body approach still yields a fairly high registration error (upper bound of the IQR in TRE >4 mm).