Fig. 1.

Concept of the proposed fluoroscopic image-based navigation for the CM. Key frames are illustrated as red cross arrows. The blue arrows illustrate the transformations. $T_{Bone}^{Carm}$ and $T_{CM}^{Carm}$ are rigid pose estimations of the CM and the bone anatomy in the C-arm coordinate frame. $T_{CM}^{ee}$ is the hand-eye matrix. Top right: Continuum manipulator and the integrated FBG with triangulation configuration [1].