Improved Surface-Based Registration of CT and Intraoperative 3D Ultrasound of Bones

Figure 6

Results of six different experiments. The result of the bone segmentation in the intraoperative ultrasound is shown in red. The registered CT mesh is shown with a false color scale illustrating the target registration error (in mm), for each point on the surface of the CT. The mean target registration error, of each experiment, is shown as TRE on the top-right corner of each subfigure.