@article {Lee2002,
	title = {Numerical algorithms for spatial registration of line fiducials from cross-sectional images},
	journal = {Journal of Medical Physics},
	volume = {29},
	number = {8},
	year = {2002},
	month = {Aug},
	pages = {1881{\textendash}1891},
	abstract = {<p>We present several numerical algorithms for six-degree-of-freedom rigid-body registration of line fiducial objects to their marks in cross-sectional planar images, such as those obtained in CT, MRI, given the correspondence between the marks, line fiducials The area of immediate application is frame-based stereotactic procedures, such as radiosurgery, functional neurosurgery The algorithms are also suitable to problems where the fiducial pattern moves inside the imager, as is the case in robot-assisted image-guided surgical applications We demonstrate the numerical methods on clinical CT images, computer-generated data, compare their performance in terms of robustness to missing data, robustness to noise, and speed The methods show two unique strengths: (1) They provide reliable registration of incomplete fiducial patterns when up to two-thirds of the total fiducials are missing from the image;, (2) they are applicable to an arbitrary combination of line fiducials without algorithmic modification The average speed of the fastest algorithm is 0 3236 s for six fiducial lines in real CT data in a Matlab implementation</p>
},
	keywords = {Algorithms, Anatomy, anatomy /\&/ histology/radiography, Cross-Sectional, Head, Humans, Image Enhancement, Imaging, Magnetic Resonance Imaging, methods, Quality Control, Reproducibility of Results, Sensitivity, Specificity, Stereotaxic Techniques, Stochastic Processes, Subtraction Technique, Three-Dimensional, Tomography, X-Ray Computed},
	author = {Sangyoon Lee and Gabor Fichtinger and Gregory Chirikjian}
}
@article {Lee2001a,
	title = {Novel Algorithms for Robust Registration of Fiducials in CT and MRI},
	journal = {Journal of Medical Physics},
	volume = {29},
	year = {2001},
	pages = {1881-1891},
	author = {Sangyoon Lee and Gabor Fichtinger and Gregory Chirikjian}
}
@article {Lee2001,
	title = {Novel Algorithms for Robust Registration of Fiducials in CT and MRI},
	journal = {Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2001},
	volume = {2208},
	year = {2001},
	pages = {717-724},
	author = {Sangyoon Lee and Gabor Fichtinger and Gregory Chirikjian}
}
