“…Moradi et al (Moradi et al, 2012) non-rigidly register manually segmented prostate binary image masks, while Fedorov et al (Fedorov et al, 2015) non-rigidly register signed distance maps of manually segmented prostates. Surface-based non-rigid registration methods treat the segmentations as points in 2D slice contours (Reynier et al, 2004; Cool et al, 2011; Mitra et al, 2012a; Zettinig et al, 2015), as points in 3D surfaces (Narayanan et al, 2009; Karnik et al, 2010; Natarajan et al, 2011; Fedorov et al, 2015; Khallaghi et al, 2015b,a; van de Ven et al, 2015; Onofrey et al, 2015b), or as a set of basis functions, for example as spherical harmonics (Moradi et al, 2012). The state-of-the-art, clinical Artemis prostate biopsy system and its ProFuse Bx multimodal image fusion software (Eigen, Grass Valley, CA), relies on intra-procedure, semi-automated TRUS segmentation (Ladak et al, 2000) and a deformable surface registration algorithm to align the prostate surfaces segmented in both the MRI and TRUS images (Narayanan et al, 2009).…”