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Feasibility of A-mode ultrasound based intraoperative registration in computer-aided orthopedic surgery: A simulation and experimental study

Fig 5

The simulation results of average RMSE after different registration steps.

(a) the average RMSE after different registration steps with the UPLE set to zero. (b) the average RMSE after different registration steps with the UPLE set to [0, 1]. (c) the average RMSE after different registration steps with the UPLE set to [1, 2].

Fig 5

doi: https://doi.org/10.1371/journal.pone.0199136.g005