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Related Experiment Video

Updated: May 19, 2026

Technical Approach for Infrared Tracking for Soft Tissue Navigation with a Holographic Head-Mounted Display and Preclinical Validation
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PCReg: a coarse-to-fine registration framework using point cloud completion for intraoperative liver deformation

Mingyang Liu1, Xinzhe Du1, Peng Liu2

  • 1Shangdong University, Jinan, China.

International Journal of Computer Assisted Radiology and Surgery
|May 17, 2026
PubMed
Summary

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We developed a novel point cloud registration framework (PCReg) to improve accuracy in image-guided liver surgery. This method enhances tumor localization and resection precision, even with challenging tissue deformations and limited views.

Area of Science:

  • Medical Imaging
  • Computer-Aided Surgery
  • Geometric Deep Learning

Background:

  • Image-guided liver surgery (IGLS) relies on accurate registration of preoperative models with intraoperative data.
  • Tissue deformation and limited views in laparoscopy pose significant challenges to current registration methods.
  • Precise tumor localization and resection are critical for successful liver surgery outcomes.

Purpose of the Study:

  • To introduce a novel coarse-to-fine non-rigid registration framework, PCReg, for improved accuracy in IGLS.
  • To address challenges of tissue deformation and partial overlaps in laparoscopic views.
  • To enhance the precision of tumor localization and resection in liver surgery.

Main Methods:

  • PCReg employs a three-stage approach: intraoperative point cloud completion, coarse registration, and fine registration.
Keywords:
Deformation correctionLiver surgeryPartial-to-full registrationPoint cloud completion

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  • A point cloud completion network (PCN) is utilized for intraoperative data completion.
  • An improved optimal transport (OT)-based method predicts initial displacement fields, followed by refinement.

    • Main Results:

    • PCReg demonstrated state-of-the-art performance on simulated and real-world datasets.
    • The framework significantly outperformed existing methods in handling complex deformations and varying overlap ratios.
    • Superior registration accuracy was achieved, particularly in low-overlapping scenarios.

    Conclusions:

    • PCReg offers a novel and effective framework for point cloud registration in IGLS.
    • The method provides a promising solution for accurate registration despite challenging intraoperative conditions.
    • This advancement can lead to more precise tumor localization and safer liver resections.