#$%^&*AU2016216551A120170406.pdf#####ABSTRACT A computerized tomography scan of a patient is registered with a magnetic 5 tracking system configured to track a sensor in proximity to the patient. The sensor is mounted on a probe. When the distal end of the probe is in contact with the patient a vector representing a translation from the sensor to the distal end is determined and used together with the registered image to determine a position of the distal end with respect to the patient. to1/6 N0(N C) co N C-)i
