Fig. 1.

Flowchart for the deformable known-component registration (dKC-Reg) algorithm. Red: patient registration. Blue: registration of surgical components. The algorithm first solves for the transformation relating one or more radiograph $\left(P\right)$ to the patient CT $\left(V\right)$. The pose and deformation parameters of the component are then solved from one or more radiographs $\left(P_{\theta }\right)$. Note that the system operates free of conventional tracking/navigation systems and fiducial markers and employs simple mobile radiographic imaging systems already common in the operating room.