Table 1: Translation errors for all frames.

Objective function Initial injection Subsequent injections

Thivierge-Gaulin 11.4 ± 8.8 mm 10.4 ± 5.4 mm
9.3 ± 6.9 mm 9.8 ± 4.8 mm
9.9 ± 7.9 mm 12.1 ± 9.1 mm
12.0 ± 8.9 mm 14.6 ± 8.7 mm
8.7 ± 6.4 mm9.0 ± 5.9 mm

8.3 ± 6.6 mm 9.6 ± 5.4 mm
8.3 ± 6.7 mm 10.5 ± 7.6 mm
7.9 ± 6.3 mm8.8 ± 6.7 mm

Clinical experts 3.3 ± 2.7 mm 3.1 ± 1.7 mm