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Purpose: To evaluate two three-dimensional (3D)/3D registration platforms, one two-dimensional (2D)/3D registration method, and one 3D surface registration method (3DS). These three technologies are available to perform six-dimensional (6D) registrations for image-guided radiotherapy treatment. Methods: Fiducial markers were asymmetrically placed on the surfaces of an anthropomorphic head phantom (n = 13) and a body phantom (n = 8), respectively. The point match (PM) solution to the six-dimensional (6D) transformation between the two image sets [planning computed tomography (CT) and cone beam CT (CBCT)] was determined through least-square fitting of the fiducial positions using singular value decomposition (SVD). The transformation result from SVD was verified and was used as the gold standard to evaluate the 6D accuracy of 3D/3D registration in Varian's platform (3D3DV), 3D/3D and 2D/3D registration in the BrainLab ExacTrac system (3D3DE and 2D3D), as well as 3DS in the AlignRT system. Image registration accuracy from each method was quantitatively evaluated by root mean square of target registration error (rmsTRE) on fiducial markers and by isocenter registration error (IRE). The Wilcoxon signed-rank test was utilized to compare the difference of each registration method with PM. A P < 0.05 was considered significant.

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