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Organ deformation between preoperative image data and the patient in the OR is the main obstacle for using surgical navigation sys- tems in liver surgery. Our approach is to provide accurate navigation via intraoperative 3D ultrasound. These ultrasound data are augmented with preoperative anatomical models and planning data as an important additional orientation aid for the surgeon. We present an overview of the whole ultrasound navigation system as well as an approach for fast intraoperative non-rigid registration of the preoperative models to the ul- trasound volume. The registration method is based on the vessel center lines and consists of a combination of the Iterative Closest Point algo- rithm and multilevel B-Splines. Quantitative results for three dierent patients are presented.

Augmenting Intraoperative 3D Ultrasound with Preoperative Models for Navigation in Liver Surgery