Table 2.
The errors on a long femur phantom are reported similar to the measurements in Table 1. The length from the femur neck to the intercondylar fossa of the dry phantom is approximately 369 mm. To measure the distance errors, a total of 12 landmarks are attached to the femur (6 metal beads on each end). Stitching with each method is repeated three times, and all errors are computed by comparing the measurements to the ground‐truth measurements in a CT scan of the phantom
| Tracking method error | Stitching error (mm) | Absolute distance error (%) | TF error | LDF error |
|---|---|---|---|---|
| Mean ± SD | Mean | Mean ± SD | Mean ± SD | |
| Marker tracking of patient (Section 4.A.1) | 0.59 ± 0.37 | 0.20 | 0.8 ± 0.3° | 2.9 ± 0.5° |
| Marker tracking of surgical bed (Section 4.A.2) | 0.66 ± 0.18 | 0.23 | 0.7 ± 0.4° | 2.3 ± 0.8° |
| RGBD‐SLAM tracking (Section 4.B) | 1.01 ± 0.41 | 0.38 | 0.8 ± 0.6° | 0.9 ± 0.6° |
| Surface data tracking (Section 4.C) | 2.53 ± 1.11 | 0.87 | 1.9 ± 0.9° | 4.1 ± 2.2° |
| Infrared tracking (Section 5.A) | 1.76 ± 0.99 | 0.61 | 1.1 ± 0.3° | 2.7 ± 0.6° |
| 2D feature tracking (Section 5.B)24 | 1.18 ± 0.28 | 0.62 | – | – |
| Image‐based registration | 68.6 ± 22.5 | 23.4 | 3.9 ± 2.0° | 5.2 ± 1.7° |