Apparatus and methods of compensating for organ deformation, registration of internal structures to images, and applications of same

A method of compensation for intraoperative deformations of an organ of interest of a living subject, comprising the steps of:

• a. preoperatively acquiring an image of the organ of interest of the living subject;
• b. segmenting the preoperatively acquired image;
• c. tessellating the segmented image to obtain a three-dimensional (3D) surface of the organ of interest;
• d. generating a tetrahedral volumetric mesh from the tessellated 3D surface of the organ of interest;
• e. modeling deformations of the organ of interest from the generated tetrahedral volumetric mesh with a finite element model (FEM) having a set of mesh nodes;
• f. intraoperatively acquiring range scan data of the organ of interest, wherein the range scan data is associated with the intraoperatively deformed surface of the organ of interest;
• g. registering the intraoperatively acquired range scan data to the tessellated 3D surface of the organ of interest by weighting regions of the intraoperatively acquired range scan data that are minimally deformed, wherein closest point distances between mesh nodes of interest and the intraoperatively deformed surface are calculated;
• h. constructing boundary conditions from a preoperatively surgical plan and the registered intraoperative range scan data, wherein the boundary conditions comprise initial deformations of the organ of interest associated with the set of mesh nodes;
• i. obtaining model solutions of the FEM corresponding to the boundary conditions iteratively in an incremental fashion, wherein fractions of the closest point distances are used to prescribe a displacement boundary condition on the mesh nodes;
• j. updating the locations of the mesh nodes by corresponding model solutions of the FEM, which triggers calculation of new registrations and boundary condition values;
• and
• k. repeating steps (i) and (j) until the root mean square (RMS) closest point distances for all mesh nodes have reached a predetermined value, wherein the model solutions of the FEM are used to align the preoperatively acquired image to the intraoperatively acquired range scan data for compensating for deformations of the organ of interest of the living subject.