Pose-independent surface matching for intra-operative soft-tissue marker-less registration
Marker-less approach for intra-operative soft-tissue registration. Replaces invasive markers with surface information. Designed for highly noisy surfaces without salient landmarks. Evaluation performed on the liver, which is known as a difficult organ to register. In-vitro evaluation using a time-of-flight camera yields errors below 10mm.
surface matching time-of-flight camera intra-operative registration computer-assisted surgery