A novel registration method between 3D ultrasound and stereoscopic cameras is proposed based on tracking a registration tool featuring both ultrasound fiducials and optical markers. The registration tool is pressed against an air-tissue boundary where it can be seen both in ultrasound and in the camera view. By localizing the fiducials in the ultrasound volume, knowing the registration tool geometry, and tracking the tool with the cameras, a registration is found. This method eliminates the need for external tracking, requires minimal setup, and may be suitable for a range of minimally invasive surgeries. A study of the appearance of ultrasound fiducials on an air-tissue boundary is presented, and an initial assessment of the ability to localize the fiducials in ultrasound with sub-millimeter accuracy is provided. The overall accuracy of registration (1.69 +/- 0.60 mm) is a noticeable improvement over other reported methods and warrants patient studies.
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