Table 1.

Average RMS RPE errors measured for the human clinical data, classified by what error sources contribute to each error measurement

	Registration method
	Calib. Error	Triang. Points	Point-Based Reg.	Manual Live Align.	Manual Retro. Align.	ICP Retro. Align.
Average RMS RPE	7.5	10.2	16.3	25.0	19.4	12.3
Standard deviation (Samples)	5.2 (9)	3.3 (9)	3.9 (9)	8.8 (4)	7.4 (3)	− (1)
Contributing errors
Laparoscope tracking	$✓$	$✓$	$✓$	$✓$	$✓$	$✓$
Laparoscope calibration	$✓$	$✓$	$✓$	$✓$	$✓$	$✓$
Picking points in video	$✓$	$✓$	$✓$	$✓$	$✓$	$✓$
Picking points in CT	–	–	$✓$	$✓$	$✓$	$✓$
Ordered point-based registration	–	–	$✓$	–	–	$✓$
Manual registration	–	–	–	$✓$	$✓$	–
Operating room conditions	–	–	–	$✓$	–	–
ICP surface-based registration	–	–	–	–	–	$✓$
Static deformation (insuflation)	–	–	$✓$	$✓$	$✓$	$✓$
Dynamic deformation (breathing)	–	$✓$	$✓$	$✓$	$✓$	$✓$

Cells containing ticks indicate that a given error source (rows) contributes to total error for a given registration method (columns)