As image-guided surgery (IGS) expands beyond intracranial neurosurgery, it takes on additional challenges. Organs other than the brain lack the encompassing bone of the skull which allows them to move and deform as a result of operative pose, respiratory and cardiac motion, and tractions placed on the tissue during the interventional process. Additionally, the skull was easily accessible via a minor incision into the skin. That allowed for the implantation of rigid reference points, or fiducial markers, which allowed for easy registration of tomographic spaces and physical space [1][2][3]. In other organs that rigid platform was not available. So both additional ways of using image information to guide procedures and techniques to account for deformation had to be developed.Image-guided procedures require a methodology of matching imaging data with physiological position and tool orientation. This requires either a registration or a calibration. The difference is in the application. In a calibration, a device is created which can reach any point within a tomographic scanner (computed tomography, CT; magnetic resonance imaging, MRI; positron emission tomography, PET; or single-photon emission computed tomography, SPECT). A phantom object containing easy-to-locate and well-described points is first volumetrically scanned and then located by the device. This allows the determination of the mathematical relationship between localizer position and orientation to locations within the scanner. Then, when a patient is scanned, the image information is used to find targets of interest in the images and thus scanner space [4]. The localization device is then used to reach the point in scanner space. If desired, a second scan can be performed to confirm the accuracy.Using ultrasound as a guidance method can also be considered a calibration. Here, a tracking system is attached to an ultrasound system and the mathematical relationship between the tracked ultrasound and its image slice is determined by a phantom process [5,6]. That allows the location of objects seen in the ultrasound to be determined in tracking system space. Then a tracked surgical instrument (also localized in tracking system space) can move to the location determined in the ultrasound (see Fig. 9.1).The strength of a calibration technique is that it requires no processing of the images and the time between obtaining the scan and the interventional procedure is minimized [7]. However, the most important issue to be addressed in a tomographic calibration technique is that no motion or deformation has occurred between the acquisition and Y. Fong et al. (eds.), Imaging and Visualization in The Modern Operating Room,