„… were determined with model based manual 2D-3D registration technique using the 3D CT bone model [7, 8 …” „… , 9, 32, 40, 41, 75]. For all movement patterns, 2D-3D registration was performed on a LG24EA53 24 …” „… markers with the camera system. After 2D-3D registration of the frame box, the transformation matrix …”

„… approximation – Pressure-foil palpation – Three-Ellipsoid 2D-3D registration – Pressure point identification …” „… . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 5.3 Influence factors of manual 2D-3D registration . . . . . . . . . . . . . . 52 5.4 …” „… . . . . . . . . . . . . . . . . . 19 3 3D pose estimation based on the ellipsoid-approximated bone model 23 3.1 Formulation of the …”

„… tuberosity medial malleoluslateral malleolus Figure 1.2: Pose detection of the right shank using three …” „… pressure points on tracked pressure sensor planes. 1.1 Motivation 3 Note that in this thesis, ellipsoids …” „… the potential to collide with other body segments [34] and (2) because of their additional weight [3 …”

„… manual 2D-3D registration. For this reason, the external pressure sensor approach could be further …” „… , the problem was first regarded in 2D, showing similarities to the 3PPR parallel manipulator, which is …” „… time, accurate 3D bone pose tracking is possible by external pressure sensor palpation. To this end …”