Fig. 7.

Example result of closest point distances (in mm) between the rigidly registered intra-operative surface and the pre-operative surface. Two views of the liver have been shown (anterior view in (a) and posterior view in (b)). Though the closest point distances range from –12.6 mm to 17.4 mm note how they are zero at every node outside the oval region highlighted in (a). Registration was performed using the wICP algorithm reported in Clements et al. (2008). Positive values mean that the intra-operative surface is on top of the pre-operative surface and negative values indicate that the intra-operative surface is underneath the pre-operative surface.