APPARATUS AND METHOD FOR REGISTERING PRE-OPERATIVE IMAGE DATA WITH INTRA-OPERATIVE LAPARSCOPIC ULTRASOUND IMAGES

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: qenerate 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.