Table 2.

Initial registration error for each patient is presented as the mean distance between corresponding manually identified landmarks in preoperative MRI and the first iUS image (U0)

Patient	Initial registration error: MRI to U0
	Mean initial distance between landmarks (SD) [#landmarks] (mm)	Mean distance between landmarks after rigid registration (mm)
1	3.74 (0.75) [5]	1.98 (0.96)
2	6.78 (3.40) [6]	3.65 (1.29)
3	9.89 (1.30) [6]	2.02 (0.65)
4	3.14 (1.24) [6]	1.81 (1.20)
5	3.20 (0.65) [5]	2.02 (1.14)
6	4.96 (0.40) [6]	1.61 (0.30)
7	2.42 (1.40) [6]	1.84 (0.46)
8	4.12 (0.80) [6]	1.75 (0.87)
9	6.27 (1.11) [6]	1.38 (0.39)
10	5.99 (1.76) [6]	1.51 (1.03)
11	7.05 (0.61) [6]	1.20 (0.55)
12	6.50 (0.51)[6]	2.10 (0.93)
13	6.04 (1.16) [6]	2.21 (0.50)
14	6.98 (1.61) [6]	1.49 (0.55)
15	2.49 (0.65) [6]	1.52 (0.71)
Mean	5.26 (0.75)	1.87 (0.57)