Method and a system for registering a 3D pre acquired image coordinate system with a medical positioning system coordinate system and with a 2D image coordinate system

1. Method for registering a Medical Positioning System (MPS) coordinate system, and with a two dimensional (2D) coordinate system, the method comprising:

acquiring at least one 2D image of a volume of interest, said volume of interest including an organ within the body of a patient, said 2D image being associated with said 2D coordinate system;

acquiring a plurality of MPS points, within said organ, said MPS points being associated with said MPS coordinate system, said MPS coordinate system being registered with said 2D coordinate system; and

estimating a volumetric model of said organ according to acquired MPS points.

2. The method according to claim 1 , further comprising registering said 2D coordinate system with said MPS coordinate system, prior to acquiring said at least one 2D image and said MPS points.

3. The method according to claim 1 , wherein each of said MPS points and each of said at least one 2D image are associated with a respective organ timing signal activity state.

4. The method according to claim 3 , wherein said organ timing signal represents an activity state in a cycle of said organ.

5. The method according to claim 3 , wherein said organ timing signal is an electrocardiogram signal.

6. The method according to claim 3 , wherein registering is performed between said MPS and said at least one 2D image associated with the same respective organ timing signal activity state.

7. The method according to claim 1 , wherein said volumetric model is estimated by detecting a plurality of border points of said organ, for each point in said at least one 2D image, corresponding to an MPS point, and wherein said plurality of border points determine the constraints of a closed curve generated around each point on the at least one 2D image.

8. The method according to claim 1 , wherein estimating a volumetric model of said organ further comprises at least one 2D image.

9. The method according to claim 1 , wherein the at least one 2D image is acquired by a medical imaging system, and wherein the plurality of MPS points are acquired by mechanically coupling an MPS sensor to the medical imaging system.

10. The method according to claim 1 , wherein said MPS coordinate system is registered with said 2D coordinate system by placing an MPS sensor in the 2D image in pre-determined positions as a fiducial mark.

11. System for registering a Medical Positioning System (MPS) coordinate system with a two dimensional (2D) coordinate system, the system including a medical imaging system for acquiring at least one 2D image of a volume of interest within the body of a patient, the at least one 2D image being associated with the 2D coordinate system, and the volume of interest including an organ, the system comprising:

an MPS associated with said MPS coordinate system, said MPS comprising:

a plurality of MPS transmitters for generating an electromagnetic field; and

an MPS sensor, for acquiring a plurality of MPS points within said organ, said MPS sensor being associated with said MPS coordinate system, said MPS coordinate system being registered with said 2D coordinate system; and

a processor coupled with said MPS and said medical imaging system, said processor estimating a volumetric model of said organ, according to said MPS points, said processor registering said MPS coordinate system with said 2D coordinate system.

12. The system according to claim 11 , wherein each of said MPS points and said at least one 2D image are associated with a respective organ timing signal activity state of said organ.

13. The system according to claim 12 , wherein said organ timing signal represents an activity state in a cycle of said organ.

14. The system according to claim 12 , wherein said organ timing signal is respective of the heart of said patient.

15. The system according to claim 12 , wherein said organ timing signal is respective of the lungs of said patient.

16. The system according to claim 12 , wherein said processor registers said MPS coordinate system with said 2D coordinate system associated with the same respective organ timing signal activity state.

17. The system according to claim 11 , wherein said processor estimates said volumetric model by detecting a plurality of border points of said organ, and wherein each point in said at least one 2D image corresponds to an MPS point, according to the registration between said 2D coordinate system and said MPS coordinate system.

18. The system according to claim 17 , wherein said plurality of border points determine the constraints of a closed curve generated around each MPS point.

19. The system according to claim 11 , wherein said estimated volumetric model is a 3D triangulated mesh representation of said organ.

20. System for registering a Medical Positioning System (MPS) coordinate system with a two dimensional (2D) coordinate system, the system including a medical imaging system for acquiring at least one 2D image of a volume of interest within the body of a patient, the at least one 2D image being associated with the 2D coordinate system, and the volume of interest including an organ, the system comprising:

an MPS associated with said MPS coordinate system, said MPS comprising:

a plurality of MPS transmitters; and

an MPS sensor, for acquiring a plurality of MPS points within said organ, said MPS sensor being associated with said MPS coordinate system, said MPS coordinate system being registered with said 2D coordinate system; and

a processor coupled with said MPS and said medical imaging system, said processor estimating a volumetric model of said organ, according to said MPS points, said processor registering said MPS coordinate system with said 2D coordinate system.