Fig. 4

Graphical illustration of the centerline deviation of the virtual 3D model compared to fluoroscopy images of the thoracic (a, b) and abdominal (c, d) aortas. For each anatomical region, centerline deviations along the vessel course are given for both registration techniques (2D-3D; 3D-3D) and imaging modalities (CT; MRI), respectively. Each colored graph represents a c-arm angulation. The deviations between the centerlines were assessed along the vessel’s course every 10 mm. The measurements were performed in the thoracic aorta (from the aortic bulb to the diaphragm) and in the abdominal aorta (from the diaphragm to the aortic bifurcation)