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

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 image of a volume of interest within the body of a patient the at least one image being associated with the 2D coordinate system, the system comprising:

• an MPS associated with the MPS coordinate system, the MPS comprising:
• a plurality of MPS transmitters for generating an electromagnetic field;
• and
• an MPS sensor, for acquiring a plurality of MPS points within the volume of interest within the body, the MPS sensor being associated with the MPS coordinate system, the MPS coordinate system being registered with the 2D coordinate system, wherein each of the MPS points and the at least one image, are all associated with a respective organ timing signal activity state of an organ;
• and
• a processor coupled with one of the MPS and the medical imaging system, and configured to receive data from the other of the MPS and the medical imaging system, the processor estimating a volumetric model within the body of the patient according to acquired MPS points.