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Table 3 Convergence test for Rigid Image Fusion (RIF) yielding higher mean Target Registration Error (TRE in mm) values after perturbation (i.e. initial TRE in mm) compared to RBF and the proposed method shows significantly reduced values after Rigid Image Fusion (RIF) (p < 0.001)

From: Automatic rigid image Fusion of preoperative MR and intraoperative US acquired after craniotomy

Patient ID

Intial

RIF

1

8.57

3.01

3

8.61

4.29

4

8.65

1.71

5

8.82

2.84

6

8.78

0.94

7

8.76

0.75

8

9.04

3.78

9

9.00

1.91

10

9.35

2.60

11

8.69

4.03

12

8.72

3.19

Mean

8.82

2.64

Standard deviation

0.23

1.20