Computer-assisted Interventions (CAI) are becoming an integral part of modern patient care. This is attributed to a number of expected benefits compared to conventional approaches, including increased accuracy, reduction of complications and decreased intervention time. Despite the fact that these benefits of CAI have been shown in various studies, not many CAI systems have found their way into clinical practice yet. The lack of clinical use of these systems can be attributed to the difficulty

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... f integrating these highly complex systems into clinical workflows, a lack of reliability, e.g. because of missing motion compensation, and high additional costs.