Abstract—In this study, we compared the tracking system of the liver in real space and virtual space by shifting the coordinates of the virtual camera and the actual camera, changing the shooting conditions, and changing the state of the liver incision. If we can determine which condition provides better tracking accuracy, our navigation system for outpatient surgery will be closer to completion. In this study, an accurate liver model was placed on a moving table and moved in parallel and up and down. The liver model in the virtual environment was tracked to evaluate its tracking system. In addition, since it is not always possible to set up a camera at the exact location when preparing for the surgery, we evaluated the tracking system by shifting the virtual camera coordinates and taking pictures. 
 

Keywords—real liver model, virtual liver model, fastest descent method, liver navigation, virtual camera