Deformation of mobile soft tissue is detected and represented in a three-dimensional medical image based on radiographically-detectable markers that are implanted in the tissue. Locations of the markers are co-registered with locations within the tissue. Sensed changes in relative locations of the markers are used to calculate relative changes in locations within the tissue due to deformation. The changes are used to calculate coordinated multi-voxel manipulations, such that a real-time volumetric medical imaging dataset is developed. By co-registering the operating room coordinate system and the volumetric medical imaging coordinate system, depth-3-dimensional augmented reality viewing of this real-time volumetric medical imaging dataset can be achieved, thereby improving the surgeon's understanding of underlying surgical anatomy and ultimately improving surgical outcomes.
