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Minimally invasive and less invasive procedure is becoming more and more common in medical therapy. Image guidance is an indispensable component in minimally invasive procedures by providing critical information about the position of the target sites and the optimal manipulation of the devices, while the field of view is limited to naked eyes due to the small incision. Registration is one of the enabling technologies for computer-aided image guidance, which brings high-resolution pre-operative data into the operating room to provide more realistic information about the patient's anatomy. In this paper, we survey the recent advances in registration techniques applied to minimally and/or less invasive therapy, including a wide variety of therapies in surgery, endoscopy, interventional cardiology, interventional radiology, and hybrid procedures. The registration approaches are categorized into several groups, including projection-to-volume, slice-to-volume, video-to-volume, and volume-to-volume registration. The focus is on recent advances in registration techniques that are specifically developed for minimally and/or less invasive procedures in the following medical specialties: neuroradiology and neurosurgery, cardiac applications, and thoracic-abdominal interventions.