Table 2 Amplitudes of respiration-induced liver motion of each liver segment during expiration period in free breathing

−2.0 ± 2.6

1.0 ± 1.3

5.5 ± 2.6

0.3 ± 2.2

1.2 ± 3.5

6.3 ± 4.2

−0.3 ± 1.9

2.4 ± 1.4

5.8 ± 2.8

−1.4 ± 3.3

1.5 ± 2.4

3.0 ± 2.6

− 1.2 ± 1.6

2.0 ± 1.9

5.3 ± 3.4

− 0.2 ± 2.1

3.2 ± 2.0

5.5 ± 2.4

− 0.1 ± 4.6

2.2 ± 2.3

6.5 ± 3.5

− 1.4 ± 3.8

3.5 ± 2.5

8.6 ± 3.4

1.0 ± 2.6

3.3 ± 2.3

5.0 ± 3.3

−0.6 ± 3.0

2.3 ± 2.4

5.7 ± 3.4