Fig. 10.

Convergence of the objective function for the liver case with 15 beams selected from 110 candidate beams. The boxes represent the median and the 25th and 75th percentiles of the 20 individual objective function values at each generation. The error bars represent the range of these 20 objective values. The green dotted line shows the objective value for the preset short path and the blue dashed line shows the objective value for the body path. (For interpretation of the references to colour in this figure legend, the reader is referred to the web version of this article.)