Abstract
A new representation technique of volumetric shape deformation, modally controlled free form deformation, was developed for non-rigid registration of a pre-operative patient liver model and intra-operative range data of partial liver surface. Non-rigid registration was performed by searching the optimal parameter set for modal deformation, such as bending and twisting, which was represented by 21 parameters. The registration error was examined by using a patient model and synthesized range data, and a liver phantom to evaluate registration accuracy.
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