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N

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(xi,true xi,TX)2 + (yi,true yi,TX)

2 + (zi,true zi,TX)2, i = 1...N .

4'7878)

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0 50 100 150 200 250 3000

50

100

150

200

250

300

3D RMS=1.13mm

x /mm

Alignment of run no. 4

Position of the 45 Markers in the Image Frame

y

/mm

trans P positions

TR positions

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3D RMSaccuracy =

1

NP

NP

n=1

(xn x n)2 + (yn y n)

2 + (zn z n)2, 4'35367

3D RMSrep =

1

NPR

R

r=1

NP

n=1

(xnr x nr)2 + (ynr y nr)

2 + (znr z nr)2. 4'35357

8!% 9:; &%#%"$"+.0.$< ,- $!% 2.=%&%($ 2.&%>$.,(/ ?%&% 2%$%&*.(%2 "/@

RMSx =

Rr=1

NPn=1(xnr x

nr)2

NPR, RMSy =

Rr=1

NPn=1(ynr y

nr)2

NPR,

4'353A7

"(2 RMSz =

Rr=1

NPn=1(znr z

nr)2

NPR.

2 4 6 8 10 12 14 16 18 200

1

2

3

4

5

6

7

8

Found 3D RMS

Number of Paired Measurements, M

RM

S r

ep

ea

tab

ilit

y /

mm

Repeatability of Apolaris HRRT

3D RMS

RMSx

RMSy

RMSz

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D6

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5 10 15 20 25 30 350

0.5

1

1.5

2

No. of TX scan

FL

E (

mm

2)

Error of the identification of the markers on the TX images

FLE

=0.47mm2

run 2

run 3

run 4

run 5

run 6

run 7

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2 3 4 5 6 70

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

1.8

No. of aligment run

3D

RM

S e

rro

r (m

m)

3D RMS Error of the Aligments

3D RMS

=1.2mm

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(

0 50 100 150 200 250

350

300

250

200

150

x /mm

z /m

m

Coordinate System of PolarisCentral Points

0 100 200 3000

50

100

150

200

250

x /mm

z /m

m Image FrameCentral Points

3DRMS

=0.82mm

3DRMS

=0.38mm

0 50 100 150 200 250

350

300

250

200

150

x /mm

z /m

m

Outlying Points

0 100 200 3000

50

100

150

200

250

x /mm

z /m

m

Outlying Points

3DRMS

=1.8mm

3DRMS

=0.68mm

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2

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8

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Frame

Rela

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PS 1zoom

PS 2

PS 2zoom

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2 4 6 8 10 120

10

20

30

40

50

60

70

80

90

100

Frame

Perc

en

tag

e o

verl

ap

(%

)

Overlap of Corrected/Original Frames

corrected frames

original frames

B

C

D

E

H

I

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0.5 1 1.5 2 2.5 3

x 104

0

20

40

60

80

100

r = 1.9 mm Th 2

r = 2.4 mm Th 3

r = 0.75 mm Th 1

Overlap as a Function of Number of Voxels Above Threshold

No of voxels above threshold

overl

ap

%

A

B

C

D

E

H

I

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o(

0 20 40 60 80 1000.2

0.4

0.6

0.8

1

1.2

1.4

1.6

1.8

2

2.2

Mean of the overlap at a given rotation (%)

Bia

s o

f th

e o

ve

rla

p (

%)

Bias of the Overlap for the Original Frames

R = 0.96 Fr. 11,

10o rotation

Fr. 2,

2o rotation

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