{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,7]],"date-time":"2026-10-07T17:42:50Z","timestamp":1791394970172,"version":"4.3.3"},"reference-count":38,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/501100004000","name":"Guangzhou Science and Technology Program Key Projects","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004000","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012165","name":"Key Technologies Research and Development Program","doi-asserted-by":"publisher","award":["2024 YFF1206903"],"award-info":[{"award-number":["2024 YFF1206903"]}],"id":[{"id":"10.13039\/501100012165","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012272","name":"Shenzhen Technology Development Program","doi-asserted-by":"publisher","award":["JCYJ20220818101802005"],"award-info":[{"award-number":["JCYJ20220818101802005"]}],"id":[{"id":"10.13039\/501100012272","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012272","name":"Shenzhen Technology Development Program","doi-asserted-by":"publisher","award":["SGDX20230116092200001"],"award-info":[{"award-number":["SGDX20230116092200001"]}],"id":[{"id":"10.13039\/501100012272","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003453","name":"Natural Science Foundation of Guangdong Province","doi-asserted-by":"publisher","award":["2023A1515012587"],"award-info":[{"award-number":["2023A1515012587"]}],"id":[{"id":"10.13039\/501100003453","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003453","name":"Natural Science Foundation of Guangdong Province","doi-asserted-by":"publisher","award":["2024A0505040020"],"award-info":[{"award-number":["2024A0505040020"]}],"id":[{"id":"10.13039\/501100003453","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62172401"],"award-info":[{"award-number":["62172401"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["82227806"],"award-info":[{"award-number":["82227806"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["clinicalkey.com","clinicalkey.com.au","clinicalkey.es","clinicalkey.fr","clinicalkey.jp","elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Computer Methods and Programs in Biomedicine"],"published-print":{"date-parts":[[2026,9]]},"DOI":"10.1016\/j.cmpb.2026.109451","type":"journal-article","created":{"date-parts":[[2026,5,21]],"date-time":"2026-05-21T15:11:25Z","timestamp":1779376285000},"page":"109451","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":1,"special_numbering":"C","title":["Liver point cloud registration via multi-feature fusion and hyperbolic embedding for augmented reality surgical navigation"],"prefix":"10.1016","volume":"284","author":[{"given":"Xiangyue","family":"Yang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8546-7248","authenticated-orcid":false,"given":"Baochun","family":"He","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-1469-8986","authenticated-orcid":false,"given":"Yue","family":"Dai","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9774-6620","authenticated-orcid":false,"given":"Huoling","family":"Luo","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lei","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0075-979X","authenticated-orcid":false,"given":"Fucang","family":"Jia","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"4","key":"10.1016\/j.cmpb.2026.109451_b1","doi-asserted-by":"crossref","DOI":"10.1002\/ima.70124","article-title":"A 3D-2D rigid liver registration method using pre-training and transfer learning with staged alignment of anatomical landmarks","volume":"35","author":"Hao","year":"2025","journal-title":"Int J Imag Syst Tech"},{"issue":"12","key":"10.1016\/j.cmpb.2026.109451_b2","doi-asserted-by":"crossref","first-page":"2211","DOI":"10.1007\/s11548-022-02774-1","article-title":"Using multiple images and contours for deformable 3D-2D registration of a preoperative ct in laparoscopic liver surgery","volume":"17","author":"Espinel","year":"2022","journal-title":"Int J Comput. Assist. Radiol Surg"},{"issue":"6","key":"10.1016\/j.cmpb.2026.109451_b3","doi-asserted-by":"crossref","first-page":"1025","DOI":"10.1007\/s11548-023-02893-3","article-title":"Learning feature descriptors for pre-and intra-operative point cloud matching for laparoscopic liver registration","volume":"18","author":"Yang","year":"2023","journal-title":"Int J Comput. Assist. Radiol Surg"},{"issue":"8","key":"10.1016\/j.cmpb.2026.109451_b4","doi-asserted-by":"crossref","first-page":"1521","DOI":"10.1007\/s11548-023-02846-w","article-title":"Intraoperative laparoscopic liver surface registration with preoperative CT using mixing features and overlapping region masks","volume":"18","author":"Guan","year":"2023","journal-title":"Int J Comput. Assist. Radiol Surg"},{"issue":"2","key":"10.1016\/j.cmpb.2026.109451_b5","doi-asserted-by":"crossref","first-page":"269","DOI":"10.1007\/s11548-024-03312-x","article-title":"Preoperative and intraoperative laparoscopic liver surface registration using deep graph matching of representative overlapping points","volume":"20","author":"Dai","year":"2025","journal-title":"Int J Comput. Assist. Radiol Surg"},{"key":"10.1016\/j.cmpb.2026.109451_b6","first-page":"21875","article-title":"Depth anything v2","volume":"37","author":"Yang","year":"2024","journal-title":"NeurIPS"},{"key":"10.1016\/j.cmpb.2026.109451_b7","series-title":"CVPR","first-page":"5249","article-title":"Foundationstereo: Zero-shot stereo matching","author":"Wen","year":"2025"},{"issue":"11","key":"10.1016\/j.cmpb.2026.109451_b8","doi-asserted-by":"crossref","first-page":"4350","DOI":"10.1109\/TMI.2025.3574198","article-title":"Landmark-free preoperative-to-intraoperative registration in laparoscopic liver resection","volume":"44","author":"Zhou","year":"2025","journal-title":"IEEE T Med Imaging"},{"issue":"2","key":"10.1016\/j.cmpb.2026.109451_b9","doi-asserted-by":"crossref","first-page":"749","DOI":"10.1109\/TMI.2024.3457228","article-title":"Point cloud registration in laparoscopic liver surgery using keypoint correspondence registration network","volume":"44","author":"Zhang","year":"2024","journal-title":"IEEE T Med Imaging"},{"key":"10.1016\/j.cmpb.2026.109451_b10","series-title":"ICCV","first-page":"3132","article-title":"OMNet: Learning overlapping mask for partial-to-partial point cloud registration","author":"Xu","year":"2021"},{"key":"10.1016\/j.cmpb.2026.109451_b11","series-title":"CVPR","first-page":"4267","article-title":"Predator: Registration of 3D point clouds with low overlap","author":"Huang","year":"2021"},{"key":"10.1016\/j.cmpb.2026.109451_b12","series-title":"CVPR","first-page":"11143","article-title":"Geometric transformer for fast and robust point cloud registration","author":"Qin","year":"2022"},{"key":"10.1016\/j.cmpb.2026.109451_b13","series-title":"CVPR","first-page":"5554","article-title":"Lepard: Learning partial point cloud matching in rigid and deformable scenes","author":"Li","year":"2022"},{"key":"10.1016\/j.cmpb.2026.109451_b14","series-title":"CVPR","first-page":"5384","article-title":"Rotation-invariant transformer for point cloud matching","author":"Yu","year":"2023"},{"key":"10.1016\/j.cmpb.2026.109451_b15","doi-asserted-by":"crossref","DOI":"10.1016\/j.compmedimag.2025.102616","article-title":"Surgical augmented reality registration methods: a review from traditional to deep learning approaches","volume":"124","author":"Neri","year":"2025","journal-title":"Comput. Med Imag Grap"},{"key":"10.1016\/j.cmpb.2026.109451_b16","first-page":"1","article-title":"Resolving the ambiguity of complete-to-partial point cloud registration for image-guided liver surgery with patches-to-partial matching","author":"Yang","year":"2025","journal-title":"IEEE J Biomed Health Inf."},{"issue":"6","key":"10.1016\/j.cmpb.2026.109451_b17","first-page":"679","article-title":"Morphologic change of in vivo porcine liver under 13 mm Hg pneumoperitoneum pressure","volume":"31","author":"Zhang","year":"2021","journal-title":"Surg Laparo Endo Per"},{"key":"10.1016\/j.cmpb.2026.109451_b18","doi-asserted-by":"crossref","DOI":"10.1016\/j.compbiomed.2021.105109","article-title":"Unsupervised learning of depth estimation from imperfect rectified stereo laparoscopic images","volume":"140","author":"Luo","year":"2022","journal-title":"Comput. Biol. Med."},{"key":"10.1016\/j.cmpb.2026.109451_b19","series-title":"BIBM","first-page":"3449","article-title":"FFC-stereo: Stereo matching of binocular endoscopic images by fast Fourier convolution","author":"Li","year":"2024"},{"issue":"10","key":"10.1016\/j.cmpb.2026.109451_b20","doi-asserted-by":"crossref","first-page":"4702","DOI":"10.1007\/s00464-020-07807-x","article-title":"Comparison of manual and semi-automatic registration in augmented reality image-guided liver surgery: A clinical feasibility study","volume":"34","author":"Schneider","year":"2020","journal-title":"Surg Endosc"},{"key":"10.1016\/j.cmpb.2026.109451_b21","series-title":"MICCAI","first-page":"638","article-title":"Towards patient-specific deformable registration in laparoscopic surgery","author":"Neri","year":"2025"},{"key":"10.1016\/j.cmpb.2026.109451_b22","series-title":"ICCV","first-page":"6411","article-title":"Kpconv: Flexible and deformable convolution for point clouds","author":"Thomas","year":"2019"},{"key":"10.1016\/j.cmpb.2026.109451_b23","series-title":"ECCV","first-page":"287","article-title":"PARE-Net: Position-aware rotation-equivariant networks for robust point cloud registration","author":"Yao","year":"2025"},{"key":"10.1016\/j.cmpb.2026.109451_b24","article-title":"Poincar\u00e9 embeddings for learning hierarchical representations","volume":"vol. 30","author":"Nickel","year":"2017"},{"key":"10.1016\/j.cmpb.2026.109451_b25","article-title":"Hyperbolic neural networks","volume":"vol. 31","author":"Ganea","year":"2018"},{"key":"10.1016\/j.cmpb.2026.109451_b26","series-title":"ICLR","article-title":"Hyperbolic attention networks","author":"Gulcehre","year":"2019"},{"key":"10.1016\/j.cmpb.2026.109451_b27","series-title":"CVPR","first-page":"4938","article-title":"SuperGlue: Learning feature matching with graph neural networks","author":"Sarlin","year":"2020"},{"issue":"2","key":"10.1016\/j.cmpb.2026.109451_b28","doi-asserted-by":"crossref","first-page":"343","DOI":"10.2140\/pjm.1967.21.343","article-title":"Concerning nonnegative matrices and doubly stochastic matrices","volume":"21","author":"Sinkhorn","year":"1967","journal-title":"Pacific J. Math."},{"key":"10.1016\/j.cmpb.2026.109451_b29","series-title":"MICCAI","first-page":"724","article-title":"Non-rigid volume to surface registration using a data-driven biomechanical model","author":"Pfeiffer","year":"2020"},{"key":"10.1016\/j.cmpb.2026.109451_b30","series-title":"3D Image Reconstruction for Comparison of Algorithm Database: A Patient Specific Anatomical and Medical Image Database","author":"Soler","year":"2010"},{"key":"10.1016\/j.cmpb.2026.109451_b31","doi-asserted-by":"crossref","first-page":"1237","DOI":"10.1007\/s11548-019-02001-4","article-title":"An in vivo porcine dataset and evaluation methodology to measure soft-body laparoscopic liver registration accuracy with an extended algorithm that handles collisions","volume":"14","author":"Modrzejewski","year":"2019","journal-title":"Int J Comput. Assist. Radiol Surg"},{"key":"10.1016\/j.cmpb.2026.109451_b32","doi-asserted-by":"crossref","DOI":"10.3389\/frobt.2025.1702360","article-title":"Benchmarking complete-to-partial point cloud registration techniques for laparoscopic surgery","volume":"12","author":"Neri","year":"2025","journal-title":"Front. Robot. Ai"},{"issue":"1","key":"10.1016\/j.cmpb.2026.109451_b33","doi-asserted-by":"crossref","first-page":"20785","DOI":"10.1038\/s41598-021-00408-1","article-title":"The technology of artificial pneumoperitoneum CT and its application in diagnosis of abdominal adhesion","volume":"11","author":"Wang","year":"2021","journal-title":"SCI REP-UK"},{"key":"10.1016\/j.cmpb.2026.109451_b34","first-page":"1","article-title":"HECPG: Hyperbolic embedding and confident patch-guided network for point cloud matching","volume":"62","author":"Xie","year":"2024","journal-title":"IEEE T Geosci Remote."},{"issue":"5","key":"10.1016\/j.cmpb.2026.109451_b35","doi-asserted-by":"crossref","first-page":"1421","DOI":"10.1111\/j.1467-8659.2008.01282.x","article-title":"Global correspondence optimization for non-rigid registration of depth scans","volume":"27","author":"Li","year":"2008","journal-title":"Comput. Graph. Forum"},{"issue":"4","key":"10.1016\/j.cmpb.2026.109451_b36","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/2601097.2601165","article-title":"Real-time non-rigid reconstruction using an RGB-D camera","volume":"33","author":"Zollh\u00f6fer","year":"2014","journal-title":"Acm T Graph."},{"key":"10.1016\/j.cmpb.2026.109451_b37","first-page":"27757","article-title":"Non-rigid point cloud registration with neural deformation pyramid","volume":"35","author":"Li","year":"2022","journal-title":"NeurIPS"},{"key":"10.1016\/j.cmpb.2026.109451_b38","doi-asserted-by":"crossref","DOI":"10.1109\/LRA.2024.3502056","article-title":"RANSAC back to SOTA: A two-stage consensus filtering for real-time 3D registration","author":"Shi","year":"2024","journal-title":"IEEE ROBOT AUTOM LET"}],"container-title":["Computer Methods and Programs in Biomedicine"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0169260726002051?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0169260726002051?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,7,4]],"date-time":"2026-07-04T19:05:32Z","timestamp":1783191932000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0169260726002051"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,9]]},"references-count":38,"alternative-id":["S0169260726002051"],"URL":"https:\/\/doi.org\/10.1016\/j.cmpb.2026.109451","relation":{},"ISSN":["0169-2607"],"issn-type":[{"value":"0169-2607","type":"print"}],"subject":[],"published":{"date-parts":[[2026,9]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Liver point cloud registration via multi-feature fusion and hyperbolic embedding for augmented reality surgical navigation","name":"articletitle","label":"Article Title"},{"value":"Computer Methods and Programs in Biomedicine","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.cmpb.2026.109451","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"109451"}}