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The MRCAS Laboratory is the main laboratory of the Center for Medical Robotics and Computer Assisted Surgery. Our research involves both planning aspects of computer-assisted surgery, e.g., medical image computing and surgical simulation, and execution aspects, e.g., intraoperative sensing, registration, and actuation. Current projects include the HipNav system for total hip replacement surgery, the Image Overlay system for enhanced visualization of anatomical structures during surgery, projects simulating knee surgery and soft tissue properties, and the Intelligent Instrument project for enhanced manual accuracy in opthalmological microsurgery.