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. Author manuscript; available in PMC: 2015 Jul 20.
Published in final edited form as: Proc SPIE Int Soc Opt Eng. 2012 Feb 23;8313:83131S. doi: 10.1117/12.911202

Figure 4.

Figure 4

Sample KCR iterations for the bilateral pedicle screw placement scenario. The initial image shows the starting guess for the two pedicle screw positions overlaid on a filtered-backprojection reconstruction of phantom data. Note the joint nature of the reconstruction problem with each iteration updating both the registration estimates and the background image. Successive iterations improve both the pose and location estimates of the screws as well as improving image quality through streak reduction.