2D/3D registration of multiple bones

The problem of 2D/3D registration is, given a 3D image of an object and one or more 2D images of the object in known poses, to recover the 3D pose of the object. We propose a solution for registering multiple bones in 2D radiographic images and 3D CT images using normalized correlation coefficient template matching. We performed tests using synthetic radiographs and CT volumes of two knees and one wrist We obtained good registration results (less than 2 degrees and 2 mm registration error) for all of the larger bones, but were unable to successfully register the small carpal bones of the wrist with high accuracy.