While supporting a partial nephrectomy this morning, our platform’s calibration check flagged a 0.5 mm drift; we paused, re-registered, and added about two minutes to keep margins exact and protect the collecting system… Where do you set your hard stop for re-calibration versus proceeding — fixed threshold or anatomy-dependent?
I use a drift-and-direction rule: if the vector points toward the collecting system, I ‘stop at 0.3 mm’; if it points away, I’ll tolerate about 0.6 mm until the next step, and I drop a tiny clip as a quick fiducial for a 10‑sec point-check. Do you log vector direction too, or just magnitude?
I go anatomy-dependent and tie it to image scale: if the drift projects to >1 pixel at my current zoom, I stop and re-register; near the collecting system that works out to about 0.3–0.4 mm. It usually costs the same “two minutes,” but I’ll tolerate up to about 0.6 mm if I’m just repositioning outside the cut plane. Do you have pixel mapping turned on, @OP, or are you relying on the mm readout?