INTRA-OPERATIVE3 DULTRASOUNDAUGME NTATION

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