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Application of KC-Reg in clinical data. (a) Positional and (b) angular TRE for 8 screws and 3 repeat registrations. (c) Corresponding post-op axial slices on all instrumented vertebrae. A monotonic improvement in accuracy and reduction in outliers was observed when using collision constraint and joint restart formulations. Main sources of error were in matching the tip of screws in L3 and a slight offset error in T12.
