Registration of Preoperative Liver Model for Laparoscopic Surgery from Intraoperative 3D Acquisition

Augmented reality improves the information display during intervention by superimposing hidden structures like vessels. This support is particularly appreciated in laparoscopy where operative conditions are difficult. Generally, the displayed model comes from a preoperative image which does not undergo the deformations due to pneumoperitoneum. We propose to register a preoperative liver model on intraoperative data obtained from a rotational C-arm 3D acquisition. Firstly, we gather the two models in the same coordinate frame according to anatomical structures. Secondly, preoperative model shape is deformed with respect to the intraoperative data using a biomechanical model. We evaluate our method on two in vivo datasets and obtain an average error of 4 mm for the whole liver surface and 10 mm for the vessel position estimation.