2D-3D radiograph to cone-beam computed tomography (CBCT) registration for C-arm image-guided robotic surgery. - Wen P. Liu; Yoshito Otake; Mahdi Azizian; Oliver J. Wagner; Jonathan M. Sorger; Mehran Armand; Russell H. Taylor (Int. J. Comput. Assist. Radiol. Surg., 2015)