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 three dimensional (3D) coordinate system with a Medical Positioning System (MPS) coordinate system, and 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, and a 3D medical images database for storing at least one pre-acquired 3D image of said volume of interest, the at least one 2D image being associated with the 2D coordinate system, the pre-acquired 3D images being associated with the 3D coordinate system, the volume of interest including at least one tubular 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 at least one tubular organ, said MPS sensor being associated with said MPS coordinate system, said MPS coordinate system being registered with said 2D coordinate system;
• and
• a coordinate systems registration processor coupled with said MPS, said medical imaging system, and with said 3D medical images database, said coordinate systems registration processor extracting a 3D image model of said at least one tubular organ from at least one pre-acquired 3D image of said tubular organ, said coordinate systems registration processor estimating a volumetric model of said at least one tubular organ, according to said at least one 2D image and according to said MPS points, said coordinate systems registration processor registering said 3D coordinate system with said MPS coordinate system, and with said 2D coordinate system, by matching said 3D image model with said volumetric model.