“…However, whereas the systematic shifts were more pronounced in the posterior direction for prostate patients, for post-prostatectomy patients, there was a trend to have larger differences in the SI direction, with more pronounced shifts in the inferior direction. Two assumptions can explain this observation: first, the difficulty to accurately localize the vesico-ureteric anastomosis on CBCT images [24]; second, the RPV is only defined in the inferior direction on US images, and arbitrarily truncated in the superior direction. Thus, US images registration only relies on one boundary instead of 2 for the other directions (Fig.…”