The invention discloses a liver
point cloud registration method and device based on a Transform architecture, relates to the technical field of three-dimensional
point cloud registration, and aims to solve the problems that mechanical characteristics of various liver tissues and geometric characteristics of point clouds are not comprehensively considered in the process of calculating
rigid body and non-
rigid body transformation in the existing registration technology, the difference between
liver parenchyma and vasculature is ignored, and the registration accuracy is poor. And the registration effect is not good due to the interference of factors such as posture, gravity and
pneumoperitoneum pressure. The method comprises the steps of obtaining a first
point cloud and a second point cloud, preprocessing the first point cloud through a preset finite
element analysis solver and a preset deformation condition to generate a third point cloud, and
processing the first point cloud, the second point cloud and the third point cloud in combination with a liver point cloud registration model based on a Transform architecture to generate a liver point cloud registration result. According to the method, different
modal features are fused by adopting a Transform architecture suitable for the point cloud, and the potential matching relationship among the modals can be captured, so that the registration effect is improved.