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We propose and test analytic equations for approximating expected fiducial and surface target registration error (TRE). The equations are derived from a spatial stiffness model of registration. The fiducial TRE equation is equivalent to one presented by. We believe that the surface TRE equation is novel, and we provide evidence from computer simulations to support the accuracy of the approximation.

Analytic Expressions for Fiducial and Surface Target Registration Error