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In order to provide navigational guidance during computer-integrated orthopedic surgery, the anatomy of the patient must first be registered to a medical image or model. A common registration approach is to digitize points from the surface of a bone and then find the rigid transformation that best matches the points to the model by constrained optimization. Many optimization criteria, including a least-squares objective function, perform poorly if the data include spurious data pointsdoi:10.1016/s1361-8415(02)00133-0 pmid:12946466 fatcat:qb32qyuxw5bztgsskgs2g3gnli