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Three-dimensional (3D) freehand ultrasound uses the acquisition of non-parallel B-scans
localized in 3D by a tracking system (optic, mechanical or magnetic). Using the positions
of the irregularly spaced B-scans, a regular 3D lattice volume can be reconstructed,
to which conventional 3D computer vision algorithms (registration and segmentation)
can be applied. This paper presents a new 3D reconstruction method which explicitly
accounts for the probe trajectory. Experiments were conducted on phantom and intra-operative
datasets using various probe motion types and varied slice-to-slice B-scan distances.
Results suggest that this technique improves on classical methods at the expense of