Rapid and Accurate Registration Method between Intraoperative 2D XA and Preoperative 3D CTA Images for Guidance of Percutaneous Coronary Intervention

Table 5

Comparison of previous studies with our method.

Author	Modality	Dimensionality	No. of test subjects	Registration accuracy	Processing time
Kaila et al. [13]	Biplane XA/CTA	3D-3D	7	1.41 mm (RMSE^1)	N/A
Khoo and Kapoor [24]	Biplane XA/CTA	2D-3D	6	3.8 mm (RMSD^2)	0.4 s
				2.31 mm (RMSD^2)	15 s
Liu et al. [25]	XA/CTA	2D-3D	10	0.6201pix (MPE^3)	20 s
Park et al. [26]	XA sequence	2D-2D	9	7.02 mm (TRE^4)	N/A
Our method	XA/CTA	2D-3D	20	1.252 mm (ADD^5)	0.297 s

RMSD, root-mean-square distance; RMSE, root-mean-square error; MPE, mean projective error; TRE, target registration error; ADD, average of distance difference.