Anatomy-based registration of CT-scan and x-ray fluoroscopy data for intraoperative guidance of a surgical robot

We describe a new method for rigid registration of a pre- operative CT-scan image to a set of intra-operative x-ray fluoroscopic images, for guiding a surgical robot to its trajectory planned from CT. Our goal is to perform the registration, i.e. compute a rotation and translation of one data set with respect to the other to within a prescribed accuracy, based upon bony anatomy only, without external fiducial markers. ©2003 Copyright SPIE - The International Society for Optical Engineering.