Table 3.

Summary of MRI-TRUS registration results.

Registration method	DICE	TRE (mm)	No. of cases	Initialization method
Hu et al (2012)	n/a	2.4 (median)	8	Manual landmarks
Khallaghi et al (2015)	n/a	2.4 (mean)	19	Gland centroid
van de Ven et al (2015)	n/a	2.8 (median)	10	Rigid surface registration
Sun et al (2015)	0.86 (median)	1.8 (median)	20	Manual landmarks
Wang et al (2016)	n/a	1.4 (mean)	18	Rigid surface registration
De Silva et al (2017)	n/a	2.3 (mean)	29	Learned motion model
Hu et al (2018a)	0.88 (median)	4.2 (median)	76	n/a
Hu et al (2018b)	0.82 (median)	6.3 (median)	76	n/a
Composite network	0.76 (median)	6.0 (median)	36a	n/a
PM method	0.96 (median)	3.9 (median)	36a	Affine surface registration
Our method—image inputs	0.89 (mean)	2.9 (mean)	36a	n/a
Our method—labels inputs	0.91 (mean)	2.5 (mean)	36a	n/a

^aTesting with our dataset.