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• The proposed framework enables real-time updating of static CBCT slices using robotic ultrasound as a dynamic proxy.method 95%
• The method establishes accurate multimodal correspondence starting from calibration-initialized alignment with LC2-based rigid refinement.method 90%
• The Ultrasound Correlation UNet (USCorUNet) is a lightweight network that enables real-time dense deformation field estimation from ultrasound streams.technical 90%
• The inferred deformation is transferred to the CBCT reference to produce deformation-consistent visualizations without repeated radiation exposure.result 90%
• Validation experiments demonstrate real-time end-to-end CBCT slice updating.result 85%
• The method enables dynamic refinement of static CBCT guidance during robotic ultrasound-assisted interventions.result 85%
• Static CBCT fails to provide continuous monitoring of soft-tissue deformations, leading to navigation discrepancies.limitation 95%

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