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. Author manuscript; available in PMC: 2020 Jul 13.
Published in final edited form as: Int J Comput Assist Radiol Surg. 2019 Mar 12;14(6):913–922. doi: 10.1007/s11548-019-01943-z

Table 1.

Error measures for tracker to C-arm hand–eye calibration of TTC(t0)

Hand-eye calibration Residual (x, y, z), ||.||2 RMS Median (x, y, z) SD (x, y, z), ||.||2
Rotation (°) (0.77, 1.2, 0.82), 1.7 0.98 (0.24, 0.11, 0.24) (0.72, 1.1, 0.75), 1.7
Translation (mm) (7.7, 8.2, 8.7), 14 8.2 (3.6, 5.4, 3.4) (7.2, 7.4, 7.6), 8.2