Registration between intraoperative ultrasound (US) and preoperative CT images provides valuable complementary information in various clinical applications such as diagnosis, image-guided interventions, etc. We develop a registration algorithm of US and CT images of the liver. This algorithm first performs feature-based registration to obtain a global transformation, and conducts voxel-based non-rigid registration to compensate the local deformation. Based on the registration result, we introduce a real-time US-CT display system without using any sensor. The feasibility of the proposed algorithm and the corresponding display system is demonstrated by using the clinical data.
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