System and method for image registration

An augmented reality system comprising:

• a scan apparatus adapted to provide at least one scan image of a region of interest of a patient in which a surgery is to be performed, wherein a body lumen that is present in the region of interest of the patient is visible in the at least one scan image;
• a fiducial device adapted to be introduced into the body lumen present in the region of interest of the patient, the fiducial device providing at least two fiducial marks adapted to emit infrared light and/or visible light capable of permeating biological tissue, the at least two fiducial marks being arranged in a known pattern on the fiducial device, the fiducial device including at least two position markers being visible to a locating system;
• a light source adapted to illuminate the region of interest with illumination light, where the surgery is to be performed;
• a live imaging device adapted to acquire at least one illumination light live image and at least one infrared light live image of the region of interest including the known pattern of the at least two fiducial marks, the live imaging device including at least two locating marks;
• the locating system being configured to determine a location and an orientation of the fiducial device by triangulation of the at least two position markers and to determine a location and an orientation of the live imaging device by triangulation of the at least two locating marks;
• a processing system configured to determine a three-dimensional volume model of the region of interest based on the at least one scan image, and provide at least one pre-operative medical scan image by intersecting the volume model with a plane based on the orientation of the live imaging device;
• an image registering system adapted to register or re-register the at least one pre-operative medical scan image with the at least one infrared light live image and the at least one illumination light live image using the known pattern of the at least two fiducial marks provided by the fiducial device, thereby creating an overlay image of the at least one pre-operative medical scan image registered with the at least one infrared light live image and the at least one illumination light live image, wherein the body lumen is visible in the overlay image,
• the image registering system adapted to detect a contour of the body lumen adapted to receive the fiducial device in the at least one pre-operative medical scan image,
• the image registering system further adapted to determine distortions between the body lumen of the at least one pre-operative medical scan and the known pattern of the at least two fiducial marks of the infrared light live image and to create a distorted pre-operative medical scan image by distorting the at least one pre-operative medical scan based on the determined distortions, thereby bringing the contour of the body lumen of the at least one pre-operative medical scan into registration with the known pattern of the at least two fiducial markers of the infrared light like image;
• and
• an image reproduction device adapted to reproduce the overlay image.