Intra-operative 3D ultrasound augmentation

We introduce an automated and accurate system for registering pre-operative 3D MR and CT images with intraoperative 3D ultrasound images based on the vessels visible in both. The clinical goal is to guide the radio-frequency ablation (RFA) of liver lesions using percutaneous ultrasound even when the lesions are not directly visible using ultrasound. The lesions locations and desired RFA sites are indicated on pre-operative images, and those markings are made to appear within the intra-operative 3D ultrasound images. We present our current implementation, provide analyses of its components, and demonstrate its performance.