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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

TABLE 2.

The results (with 95% confidence intervals) from running the TRE compensation algorithm on five cadaver scans

Voxel size 0.43 mm3 Spatially varying safety margins Voxel size 0.43 mm3 Uniformly thick safety margins Voxel size 0.23 mm3 Spatially varying safety margins Voxel size 0.23 mm3 Uniformly thick safety margins
Facial nerve
Volume of safety margin (mm3) 229.13±19.55 262.46±21.45 140.18±24.53 162.66±15.25
Final overall damage risk (acceptable =0.001) 6.56E-04±3.81E-04 4.64E-04±4.06E-04 6.88E-04±4.88E-04 6.16E-04±2.99E-04
Average mahalanobis distance from final shell voxels to critical structure 7.70±0.49 8.95±0.55 5.59±0.82 6.71±0.48
Standard deviation of mahalanobis distances from final shell voxels to critical structure 1.07±0.14 2.40±0.24 0.52±0.04 1.77±0.18
Chorda tympani
Volume of safety margin (mm3) 69.17±9.87 47.80±7.21 24.94±2.20 26.71±3.53
Final overall damage risk (acceptable =0.05) 0.0105±0.0269 0.0068±0.0119 0.0486±0.0019 0.0368±0.0131
Average mahalanobis distance from final shell voxels to critical structure 7.77±0.61 6.52±0.28 4.32±0.09 4.89±0.12
Standard deviation of mahalanobis distances from final shell voxels to critical structure 1.17±0.20 1.94±0.41 0.51±0.11 1.42±0.24
Internal auditory canal
Volume of safety margin (mm3) 227.39±56.00 222.96±55.25 142.39±26.46 158.28±27.24
Final overall damage risk (acceptable = 0.01) 0.0012±0.0014 0.0059±0.0053 0.0078±0.0054 0.0071±0.005
Average mahalanobis distance from final shell voxels to critical structure 7.34±0.19 7.57±1.55 4.84±0.48 5.57±0.59
Standard deviation of mahalanobis distances from final shell voxels to critical structure 1.15±0.15 1.93±0.57 0.55±0.13 1.32±0.35
Sigmoid sinus
Volume of safety margin (mm3) 646.57±184.37 661.26±265.14 470.96±154.14 514.44±174.98
Final overall damage risk (acceptable = 0.01) 0.0024±0.0043 0.0051±0.0054 0.0075±0.0052 0.0034±0.0038
Average mahalanobis distance from final shell voxels to critical structure 7.35±0.19 7.56±1.29 5.24±0.67 5.76±0.38
Standard deviation of mahalanobis distances from final shell voxels to critical structure 1.03±0.09 1.73±0.45 0.56±0.05 1.04±0.14
External auditory canal
Volume of safety margin (mm3) 426.98±65.60 347.70±39.15 241.88±29.13 262.82±17.77
Final overall damage risk (acceptable =0.05) 0.0203±0.0283 0.0105±0.0162 0.0477±0.0022 0.0407±0.0064
Average mahalanobis distance from final shell voxels to critical structure 7.39±0.46 6.56±0.49 4.44±0.30 4.99±0.20
Standard deviation of mahalanobis distances from final shell voxels to critical structure 1.16±0.18 1.93±0.66 0.51±0.12 1.22±0.17
Time (m) 3.85±1.79 14.87±11.46 108.70±40.76 137.49±82.23