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Image registration is a valuable technique for medical diagnosis and treatment. In this paper, we present an enhanced implementation of the popular iterative closest point (ICP) algorithm developed for the registration of 3D free-form closed surfaces, based on the use of a look up matrix for finding the best correspondence pairs. The algorithm, called comprehensive ICP (CICP) algorithm, is then successfully applied for comparing two sequences of 3D surfaces of the left ventricle of the heart, obtained from two different modalities: 4D Echography and Gated SPECT. The results show a good correspondence between the reconstructed sequence from 4D echography and the reference gated SPECT sequence. This study can be extended to comparing different medical reconstructions of sphere-like shaped organs collected from different modalities.