A method for detecting and enhancing edges in an ultrasound image includes the steps of applying an edge detection filter to at least one of a plurality of pixels of an ultrasound image to compute an edge detection value having a magnitude and a direction; and applying either a directional edge enhancement filter or a non-directional smoothing filter to at least one of the plurality of pixels of the ultrasound image.

 
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> Registering intra-operative image data sets with pre-operative 3D image data sets on the basis of optical surface extraction
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