The proposed algorithm offers the possibility to incorporate additional a priori knowledge-in terms of few landmarks-provided by a human expert into a non-rigid registration process.

Preliminary data suggest that early- and late-fluorescence ratio imaging after ICG administration can be used to distinguish malignant from benign breast lesions.

Abstract.Organ deformation between preoperative image data and the patient in the OR is the main obstacle for using surgical navigation systems in liver surgery. Our approach is to provide accurate navigation via intraoperative 3D ultrasound. These ultrasound data are augmented with preoperative anatomical models and planning data as an important additional orientation aid for the surgeon. We present an overview of the whole ultrasound navigation system as well as an approach for fast intraoperative non-rigid registration of the preoperative models to the ultrasound volume. The registration method is based on the vessel center lines and consists of a combination of the Iterative Closest Point algorithm and multilevel B-Splines. Quantitative results for three different patients are presented.

Three-dimensional ultrasound-based optoelectronic navigation technology improves intraoperative orientation and enables parenchyma-preserving surgery with high precision.

The proposed registration method is fast enough for clinical application in liver surgery. Initial accuracy results are promising and must be further evaluated, particularly in the operating room.