Even though accurate diagnosis of organs is done using preoperative images such as CT or MRI, these information are not directly used in the operating room, because organs are nonrigid and their shapes change with time. In this paper, we propose to obtain an intraoperative image of an open organ and fuse the image with a preoperative image. The intraoperative image is obtained from a three-dimensional laser scanner. The registration of preoperative image to the intraoperative image can relate the information from the preoperative image to the open organ in the operating room. We do this by registering preoperative images to intraoperative images. An algorithm based on Robust Point Matching method is developed for this nonrigid image registration problem. We also propose a new metric called Non Overlapping Ratio to determine the registration error. The experiments demonstrate that the proposed method is capable of achieving region of interest estimation within 1.51mm mean distance error and 0.66% Non Overlapping Ratio.
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