Stephen Thompson,Matt Clarkson,David Hawkes,Yi Song
申请号：
US15568413
公开号：
US20180158201A1
申请日:
2016.06.17
申请国别(地区):
US
年份:
2018
代理人:
摘要：
A method and apparatus are provided for registering pre-operative three dimensional (3-D) image data of a deformable organ comprising vessels with multiple intra-operative two-dimensional (2-D) ultrasound images of the deformable organ acquired by a laparoscopic ultrasound probe during a laparoscopic procedure. The apparatus is configured to: generate a 3-D vessel graph from the 3-D pre-operative image data use the multiple 2-D ultrasound images to identify 3-D vessel locations in the deformable organ determine a rigid registration between the 3-D vessel graph from the 3-D pre-operative image data and the identified 3-D vessel locations in the deformable organ and apply said rigid registration to align the pre-operative three dimensional (3-D) image data with the two-dimensional (2-D) ultrasound images, wherein the rigid registration is locally valid in the region of the deformable organ of interest for the laparoscopic procedure.
