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. Author manuscript; available in PMC: 2013 Nov 6.
Published in final edited form as: Prog Biophys Mol Biol. 2010 Sep 30;103(0):10.1016/j.pbiomolbio.2010.09.014. doi: 10.1016/j.pbiomolbio.2010.09.014

Fig. 11.

Fig. 11

Qualitative results for Patient 5 reported in this study. a and b: Results of rigid registration using the wICP algorithm. Exposed intra-operative surface acquired as a three-dimensional point-cloud (shown in red) was rigidly registered to the pre-operative liver surface using wICP. Notice the misalignment between the two surfaces. c and d: Results of the proposed computational approach. Pre-operative liver surface was deformed using displacements predicted by the computational approach and the rigidly registered intra-operative surface has been overlaid on top of it. Notice the improvement in alignment between the surfaces when compared to the top row.