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FRED provides an interactive demonstration of fiducial based registration for teaching purposes

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GitHub Actions CI status Test coverage Documentation Status The SciKit-SurgeryFRED paper DOI - Zenodo Our SPIE 2021 Talk Video Demonstration on YouTube Video Demonstration of Game on YouTube

Author: Stephen Thompson

This is the Fiducial Registration Educational Demonstration (SciKit-SurgeryFRED), part of the SciKit-Surgery software project, developed at the Wellcome EPSRC Centre for Interventional and Surgical Sciences, part of University College London (UCL).

Fiducial Registration Educational Demonstration is intended to be used as part of an online tutorial in using fiducial based registration. The tutorial covers the basic theory of fiducial based registration, which is used widely in image guided interventions. The tutorial aims to help the students develop an intuitive understanding of key concepts in fiducial based registration, including Fiducial Localisation Error, Fiducial Registration Error, and Target Registration Error.


If you use SciKit-SurgeryFRED in your research or teaching please cite our paper:

Stephen Thompson, Tom Dowrick, Mian Ahmad, Jeremy Opie, and Matthew J. Clarkson “Are fiducial registration error and target registration error correlated? SciKit-SurgeryFRED for teaching and research”, Proc. SPIE 11598, Medical Imaging 2021: Image-Guided Procedures, Robotic Interventions, and Modeling, 115980U (15 February 2021);

Specific releases can be cited via the Zenodo tag.

SciKit-Surgery can also be cited as:

Thompson S, Dowrick T, Ahmad M, et al. “SciKit-Surgery: compact libraries for surgical navigation.” International Journal of Computer Assisted Radiology and Surgery. 2020 May.



You can clone the repository using the following command:

git clone


Please see the contributing guidelines.


Supported by Wellcome and EPSRC.

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