Table 1 Average RMS RPE errors measured for the human clinical data, classified by what error sources contribute to each error measurement
From: In vivo estimation of target registration errors during augmented reality laparoscopic surgery
Registration method | ||||||
|---|---|---|---|---|---|---|
Calib. Error | Triang. Points | Point-Based Reg. | Manual Live Align. | Manual Retro. Align. | ICP Retro. Align. | |
Average RMS RPE | 7.5 | 10.2 | 16.3 | 25.0 | 19.4 | 12.3 |
Standard deviation (Samples) | 5.2 (9) | 3.3 (9) | 3.9 (9) | 8.8 (4) | 7.4 (3) | − (1) |
Contributing errors | ||||||
Laparoscope tracking | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) |
Laparoscope calibration | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) |
Picking points in video | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) |
Picking points in CT | – | – | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) |
Ordered point-based registration | – | – | \(\checkmark \) | – | – | \(\checkmark \) |
Manual registration | – | – | – | \(\checkmark \) | \(\checkmark \) | – |
Operating room conditions | – | – | – | \(\checkmark \) | – | – |
ICP surface-based registration | – | – | – | – | – | \(\checkmark \) |
Static deformation (insuflation) | – | – | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) |
Dynamic deformation (breathing) | – | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) | \(\checkmark \) |