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. 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 9.

FIGURE 9

A cadaver scan is shown with six fiducial locations (red spheres), target region, critical structures, and the safety margins that our algorithm generated. After the removal of the intersection of the safety margins and the target region, the resulting reduced target region can be milled with statistical assurance of safety from registration error