Skip to main content
. Author manuscript; available in PMC: 2018 Sep 1.
Published in final edited form as: Int J Med Robot. 2016 Sep 21;13(3):10.1002/rcs.1773. doi: 10.1002/rcs.1773

FIGURE 4.

FIGURE 4

The effect of simulated registration error. A, The true location of the critical structure (black) and the safety margin (cyan) in physical space. B, A set of points located on the faces of the analyzed shell voxels that are neighbors of either critical structure or safety margin in image space. C, Superposition of A and B, after they have been registered together. The error in registration from image space to physical space is due to fiducial localization error (FLE) that is added to the true fiducial positions in both spaces before registration. Red stars represent points on the analyzed shell that lie within the critical structure, and green dots represent points on the analyzed shell that are external to the critical structure. Computing many such simulated registrations and tabulating the fraction of registrations that contain at least one red point yields the ‘overall damage risk’