Table 2 Deviation value, registration time and statistical value at different registration sites on X, Y or Z axis (x ± s)

3.651 ± 0.867

1.144 ± 0.129

1.226 ± 0.126

2.081 ± 0.427

179.491 ± 71.975

322.209

0.000

0.226 ± 2.900

0.623 ± 3.295

0.453 ± 2.866

0.000 ± 3.322

0.377 ± 2.669

0.323

0.863

0.396 ± 7.292

0.208 ± 5.055

0.094 ± 5.838

0.491 ± 6.116

0.094 ± 5.274

0.110

0.979

1.981 ± 2.678

1.830 ± 2.847

1.302 ± 2.334

2.000 ± 2.908

1.264 ± 2.543

0.988

0.415

2.189 ± 1.892

2.396 ± 2.323

2.302 ± 1.739

2.453 ± 2.215

2.038 ± 1.743

0.368

0.831

5.340 ± 4.926

3.906 ± 3.170

4.472 ± 3.703

4.642 ± 3.962

4.057 ± 3.325

1.129

0.343

2.623 ± 2.040

2.698 ± 2.025

2.057 ± 1.692

2.792 ± 2.143

2.094 ± 1.904

1.678

0.155