Abstract: 
    
            
                    An active research objective in Computer Assisted Intervention (CAI) is to  
develop guidance systems to aid surgical teams in laparoscopic Minimal  
Invasive Surgery (MIS) using Augmented Reality (AR). This involves  
registering and fusing additional data from other modalities and overlaying  
it onto the laparoscopic video in realtime. We present the first AR-based  
image guidance system for assisted myoma localisation in uterine  
laparosurgery. This involves a framework for semi-automatically registering a  
pre-operative Magnetic Resonance Image (MRI) to the laparoscopic video with a  
deformable model. Although there has been several previous works involving  
other organs, this is the first to tackle the uterus. Furthermore, whereas  
previous works perform registration between one or two laparoscopic images  
(which come from a stereo laparoscope) we show how to solve the problem using  
many images (e.g. 20 or more), and show that this can dramatically improve  
registration. Also unlike previous works, we show how to integrate occluding  
contours as registration cues. These cues provide powerful registration  
constraints and should be used wherever possible. We present retrospective  
qualitative results on a patient with two myomas and quantitative  
semi-synthetic results. Our multi-image framework is quite general and could  
be adapted to improve registration other organs with other modalities such as  
CT.