“…During the intervention needle guidance is provided in real time: A surface-based registration with the surface acquired by the range camera yields the transformation from the CT volume to the range image space. The trajectory can then be transformed and superimposed along with the instrument model on the intensity/RGB image to provide guidance information [1,2,10,18,19,23,27,32,34,36,38,45] differing mainly in the methods used for tracking (e.g., optical, electromagnetical), registration (e.g., point-based, model-based) and guidance visualization (e.g., external monitor, head-mounted display, projector). However, thus far, none of them became widely accepted in clinical routine, because the benefit of such systems for the patient could not exceed the additional complexity and additional higher costs.…”