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. Author manuscript; available in PMC: 2018 Apr 21.
Published in final edited form as: Phys Med Biol. 2017 Feb 24;62(8):3330–3351. doi: 10.1088/1361-6560/aa62c5

Figure 2.

Figure 2

Known-components. (a) Titanium pedicle screws of different sizes delivered in the phantom experiments. (b) Parametric model of a screw, showing the DoF governing its pose and the shapes of its multiple parts. (c) Collision constraint based on the separating axis of oriented bounding boxes for which a gap within the projection on to that axis implies that the components do not intersect. (d) Contralateral screws registered simultaneously to the patient CT by 3D-2D registration of AP, OBL, and LAT views.