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The present paper describes a method for intraoperative recovery of respiratory motion and deformation of the liver by using a laparoscopic freehand 3D ultrasound (US) system. The proposed method can extend 3D US data of the liver to 4D by acquiring additional several sequences of time-varying 2D US images during a couple of respiration cycles. 2D US images are acquired on several sagittal image planes...
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