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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 7.

Figure 7

Restart using joint registration. (a) Positional and (b) angular TRE for the initial solution and after restarting with joint registration. (c–d) Corresponding post-op axial slices on L2 vertebra overlaid with aggregate registration solution. Restarting with joint registration did not show a statistically significant improvement in TRE in the phantom experiments (but is shown to add stability in the more complex clinical studies below).