the affine registration and the deformable registration in step 2, suggesting that both affine and deformable registrations are required to facilitate an accurate alignment.]{} The urethra ( \[fig:ResultsQuantitative\]c,f) and the landmark deviations failed to show a clear trend, but we observe a moderate decrease of landmark deviation between the input, 2.94$\pm$0.54 mm, and after applying RAPSODI, 2.88$\pm$0.7 mm, however, these differences were not statistically significant..

[ The comparison of results from cohorts C1 and C2 indicated that RAPSODI produces consistent results, with Dice coefficients on the prostate border of 0.98, and Hausdorff distances averaging 1.36-1.78 mm ( \[tab:ResultsQuantitative\]). The subjects in cohort C2 have MRIs acquired using an endorectal coil which causes larger deformations of the prostate. Thereby, the input data and affine registration results show worse alignment in cohort C2 compared to cohort C1. However, similar metrics are evaluated after the deformable registration in RAPSODI, suggesting that our approach generalizes even for larger deformations, as those induced by an endorectal coil.]{}

[|m[0.50in]{}|m[0.7in]{}|m[1.2in]{}|m[1.0in]{}|m[1.2in]{}|m[0.8in]{}|]{} Cohort & Dice Prostate & Haussdorff Distance (mm) & Urethra Deviation (mm) & Landmarks Deviation (mm) & Dice Cancer\
C1 & 0.98$\pm$0.01 & 1.79$\pm$0.45 & 2.74$\pm$0.82 & 2.88$\pm$0.70 & -\
C2 & 0.98$\pm$0.01 & 1.37$\pm$0.47 & 3.14$\pm$1.71& 