Figure 6.

Intra-operative navigation. Cadaveric specimen with orthopedic pins inserted (a); example of a registration tool RT_UGP inserted into UGP pin (b); 2D/3D registration framework (c): 6DOF pose of the fluoroscopic images is estimated using the CAD model of the registration tool and the pin (green object); CT-generated model of the bone fragment (red object) is then registered with the fluoroscopic images; the relative pose between the coordinate frames of the fragment (CF_Fi) and the inserted pin (CF_Pi) is defined by the homogeneous transformation ^Pi T _Fi.