RANSAC-based global 3DUS to CT/MR rigid registration using liver surface and vessels. - Tsubasa Goto; Riki Igarashi; Iku Cho; Kazushi Numata; Yugo Ishino; Yoshiro Kitamura; Masafumi Noguchi; Takanori Hirai; Koji Waki (Int. J. Comput. Assist. Radiol. Surg., 2026)