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This paper adresses the application of matching techniques to Computer and Robot Assisted Surgery, where we desire to use in the surgical theater a treatment planning based on multi-modal data (mainly pre-operative images). We present a methodology based on geometrical matching of reference anatomical surfaces. Then we describe a new general method that enables to perform 3-D / 2-D matching and 3-D / 3-D matching with fast computation. Results are illustrated.
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Lavallée et al. (2005) studied this question.