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The purpose of this paper is to present a survey of recent (published in 1993 or later) publications concerning medical image registration techniques. These publications will be classified according to a model based on nine salient criteria, the main dichotomy of which is extrinsic versus intrinsic methods. The statistics of the classification show definite trends in the evolving registration techniques, which will be discussed. At this moment, the bulk of interesting intrinsic methods is based on either segmented points or surfaces, or on techniques endeavouring to use the full information content of the images involved.