“…e.g. (Bronstein et al, 2011;Funkhouser and Shilane, 2006;Gelfand et al, 2005;Lipman and Funkhouser, 2009;Wang et al, 2010;Windheuser et al, 2011;Zeng et al, 2010;Zhang et al, 2008), the only fully-automatic non-rigid approaches to intra-operative registration of range data in abdominal procedures have been applied in open surgery (dos and do not provide real-time performance. To avoid the computational demands of repeating the registration process over time, an alternative registration approach involves continuously updating an initially performed registration via tissue tracking using the endoscopic image information acquired during surgery.…”