CONTENTS -- Foreword -- Registration -- Stereotactic Treatment Planning Using Fused Multi-Modality Imaging K.-D. Hamm, G. Surbel -- G. Kleinert, M. Schmiicking, A. Niesen, R. P. Baum, R. Aschenbach and S. Basche -- Purpose: -- 1. Introduction -- 2. Methods -- 3. Results -- 4. Discussion -- 5. Conclusions -- References -- Non-Rigid Registration of Intraoperatively Acquired 3D Ultrasound Data of Brain Tumors M. Letteboel -- P. Helliel -- D. Rueckert, P Willems, J. W Berkelbach and W Niessen -- 1. Introduction -- 2. Materials and Methods -- 2.1. Data Acquisition -- 2.2. Registration of Ultrasound Volumes -- 2.3. Validation of Non-Rigid Registration -- 3. Results and Discussion -- 3.1. Rigid Registration -- 3.2. Non-Rigid Registration Parameters -- 3.3. Validation of Non-Rigid Registration -- 4. Conclusion -- References -- Comparison of Different Registration Methods for Navigation in Cranio-maxillofacial Surgery M. Zinsel -- R. A. Mischkowski, M. Siesseggel -- J. Neugebauel -- A. Kiibler and J. E. Zoller -- 1. Introduction -- 2. Methods -- 3. Results -- 4. Discussion -- 5. Conclusion -- References -- Localisation of Moving Targets for Navigated Radiotherapy L. Vences, O. Sauel, M. Roth, K. Berlingel, M. Doetter and A. Schweikard -- 1. Introduction -- 2. Related work -- 3. Method -- 3.1. Global Registration -- 3.2. Local registration -- 4. Results -- 5. Discussion -- 6. Conclusion -- 7. Acknowledgments -- References -- Accuracy and Practicability of Laser Surface Scanning for Registration in Image Guided Neurosurgery R. Krishnan, A. Raabe and V Seifert -- 1. Introduction -- 2. Patients and Methods -- 3. Results -- 4. Discussion -- 5. Conclusion -- References -- Using the AWIGS System for Preparation of Computer Aided Surgery H. Knoop, J. Raczkowsky, H. Worn, U. wslucha and T. Fiegele -- 1. Introduction -- 1.1. The system -- 1.2. Environment.

2. Challenges -- 3. Solution -- 3.1. Hardware -- 3.2. Sofnvare -- 4. Evaluation -- 4.1. Laboratory -- 4.2. Intraoperative -- 5. Results -- 5.1. Errors -- 5.2. Calculation time -- 5.3. Dependencies -- 6. Discussion -- References -- Ultra-Fast Holographic Recording and Automatic 3D Scan Matching of Living Human Faces D. Giel, S. Frey, A. Thelen, J. Bongartz, P. Hering, A. Niichtel -- H. Surmann, K. Lingemann and J. Hertzberg -- 1. Introduction -- 2. Hologram tomography -- 2.1. Recording and optical reconstruction -- 2.2. Locus of focus -- 3. Automatic 3D Scan Matching -- 3.1. Matching as an Optimization Problem -- 3.2. Time Complexity Reduction -- 3.3. Matching Multiple 3D Reliefs -- 4. Results and Conclusions -- Acknowledgment -- References -- Automatic Coarse Registration of 3D Surface Data in Oral and Maxillofacial Surgery Z Maiel -- M. Benz, N. Schon, E. Nkenke, F. W. Neukam, E Vogt and G. Hausler -- 1. Introduction -- 2. State of the art -- 3. Methods -- 4. Results and Discussion -- 5. Conclusion and Future Work -- Acknowledgements -- References -- Automated Marker Detection for Patient Registration in Image Guided Neurosurgery R. Krishnan, E. Herrmann, R. Wolff, A. Raabe and V. Seifert -- 1. Introduction -- 2. Patients and Methods -- 2.1. Placement offiducial markers -- 2.2. Data acquisition -- 2.3. Marker detection -- 2.4. Data analysis -- 3. Results -- 3.1. Influence of Marker Size -- 3.2. Influence of Threshold -- 4. Discussion -- 4.1. Interpreting accuracy values in image guided surgery -- 5. Conclusion -- References -- Advanced Navigation and Motion Racking -- Clinical Relevance of Preoperative CT-Based Computer Aided 3D-Planning in Hepatobiliary, Pancreatic Surgery and Living Donor Liver Transplantation J. Harms, H. Bourquain, K. Oldhafel -- H.-O. Peitgen, J. Hauss and J. Fangmann -- 1. Introduction -- 2. Material & Methods -- 2.1. Results.

Pancreatic Tumors: -- Biliary Tract Tumors: -- Living Donor Liver Transplantation: -- Liver Transplant Recipients: -- 3. Discussion -- Pancreatic Tumors: -- Biliary Tract Tumors: -- Living Donor Liver Transplantation: -- References -- Analysis of Drill Sound in Spine Surgery I. Boesnach, M. Hahn, J. Moldenhauel, Th. Beth and U. Spetzger -- 1. Introduction -- 2. Integration in the operation theatre -- 3. Generation of Audio Features -- 4. Methods for Sound Classification -- 4.1. Neural Networks -- 4.2. Support Vector Machines -- 4.3. Hidden-Markov-Models -- 5. Results and Conclusions -- Acknowledgements -- References -- Experimental Navigation Setup for Coronary Interventions J. Borgert, S. Kruezer, R. Grewer and H. Timinger -- 1. Introduction -- 2. Application Area and Background -- 3. Components of the Experimental Setup -- 4. Reproducibility of the Heart Phantoms Motion -- 5. Key Experiments for Interventional Navigation -- Metal Compensation -- Motion Compensation -- 6. Conclusions -- 7. Acknowledgments -- References -- Beating Heart Tracking in Robotic Surgery Using 500 Hz Visual Servoing R. Ginhoux, J. A. Gangloff, M. F. de Mathelin, L. Solel, M. M. Arenas Sanchez and J. Marescaux -- 1. Introduction -- 2. Robotic Setup -- 2.1. Surgical robot -- 2.2. Mechanism for visual measurement -- 2.3. Control strategy -- 3. Adaptive Observer -- 3.1. Adaptive filtering -- 3.2. Prediction -- 4. Results -- 4.1. Simulation -- 4.2. In-vivo Results -- References -- Occlusion-Robust, Low-Latency Optical Tracking Using a Modular Scalable System Architecture A. Kopfle, R. Manner, M. Schill, M. Rautmann, P. P. Pott, M. L. R. Schwarz, H. P. Schalf, A. Wagner -- E. Badreddin and P. Weiser -- 1. Introduction -- 2. Materials & Methods/Implementation -- 2.1. Overview -- 2.2. Camera Modules -- 2.3. Control 13 Reconstruction Module -- 2.4. Calibration.

3. Results of First Test Setup -- 4. Discussion -- 5. Future Work -- Acknowledgments -- References -- Development of Autoclavable Reflective Optical Markers for Navigation Based Surgery D. Schauer, T. Kriiger and T. Lueth -- 1. State of the art in optical position measurement -- 2. Material and method -- 2.1. Coating material -- 2.2. Adhesive -- 2.3. Design of the adhesive joint -- 2.4. Autoclavation -- 3. Conclusion -- 4. Acknowledgements -- Iso-C 3D Navigated Drilling of Osteochondral Defects of the Talus: A Cadaver Study M. Citak, J. Geerling, D. Kendoff M. Richtel, T. Hiifner and C. Krettek -- 1. Introduction -- 2. Material and Methods -- 3. Results -- 4. Discussion -- References -- Development of a Navigation System for Transcranial Magnetic Stimulation (TMS) A. Wechsler, S. Woessner and J. Stallkarnp, A. Thielscher and T. Karnrner -- 1. Transcranial Magnetic Stimulation (TMS) -- 1.1. Principle -- 1.2. Parameters -- 1.3. Applications -- 2. Navigation Systems -- 2.1. Navigation Systems for Surgery -- 2.2. Special requirements of TMS -- 3. Navigation System Design for TMS -- 4. Results -- 4.1. Neurology -- Motor Mapping -- Mapping of the Visual Cortex -- 4.2. Psychiatry -- 5. Conclusion -- References -- Fluoroscopy Based Navigated Drilling of Four Osteonecrotic Lesions in One Patient M. Citak, J. Geerling, D. Kendoff, H. Wubben,C. Krettek and T. Hufner -- 1. Introduction -- 2. Clinical case -- 3. Results -- 4. Conclusion -- Iso-C 3D Accuracy-Control and Usefullness at Calcanues Osteosynthesis D. Kendoa J. Geerling, M. Richtel, T. Hufiel, M. Citak and C. Krettek -- 1. Introduction -- 2. Materials and Methods -- 3. Results -- 4. Discussion and Conclusion -- References -- Craniofacial Endosseus Implant Positioning with Image-Guided Surgical Navigation J. Hoffmann, D. Troitzsch, C. Westendorff, F. Damrnann and S. Reinert -- 1. Background.

2. Materials and Methods -- 3. Results -- 4. Discussion -- References -- A Hybrid Approach to Minimally Invasive Craniomaxillofacial Surgery: Videoendoscopic-Assisted Interventions with Image-Guided Navigation J. Hoffmann, D. Troitzsch, C. Westendorff, F. Dammann and S. Reinert -- 1. Background -- 2. Materials and Methods -- 3. Results -- 4. Discussion -- References -- Geometrical Control Approaches for Minimally Invasive Surgery M. Michelin, E. Dombre and P Poignet -- 1. Introduction -- 2. First approach -- 2.1. Geometric description of the constraint -- 2.2. Inverse geometric model -- 2.3. Experimental results -- 3. Second approach -- 3.1. Description of the constraint -- 3.2. Solution -- 3.3. Experimental results -- 4. Conclusion -- References -- Prospective Head Motion Compensation by Updating the Gradients of the MRT C. Dold, E. A. Firle, G. Sakas, M. Zaitsev, O. Speck, J. Hennig and B. Schwald -- 1. Introduction -- 2. Material and Methods -- 2.1. Prospective Rotation Phantom Tests -- 2.2. Echo Planar Imaging (EPI) Sequence -- 3. Result -- 4. Discussion -- Acknowledgments -- References -- Calibration and Accuracy Analysis -- Non-Invasive Intraoperative Imaging Using Laser Radar Imaging in Hip-Joint Replacement Surgery G. Kompa and G. Kamucha -- 1. Introduction -- 2. Pulsed laser radar system -- 3. Registration algorithm and verification -- 4. Clinical test -- 5. Conclusions -- Acknowledgments -- References -- Accuracy in Computer Assisted Implant Dentristry. Image Guided Template Production vs. Burr Tracking G. Widmann, R. Widmann, E. Widmann and R. J. Bale -- 1. lntroduction -- 2. Methods -- 3. Results -- 4. Discussion -- References -- 3D-Accuracy Analysis of Fluoroscopic Planning and Navigation of Bone-Drilling Procedures J. A. K. Ohnsorge, M. Weisskopf -- E. Schkommodau, J. E. Wildbergel, A. Prescher and C. H. Siebert.

1. Objectives / Background.