Method and apparatus for navigating a therapeutic device to a location

An apparatus for navigating a device to a target location within a moving organ of a subject, the apparatus comprising:

• a communication component for communicating with an imaging device capturing a reference image and a positioning image;
• a feature identification component for identifying a first feature in the reference image and a second feature in the positioning image;
• a component for determining geometric relations between two features appearing in one image or in two images;
• and
• a component for marking an indication of the first feature on the positioning image,
• wherein at least one component is executed by a computing platform.

A non-transient computer readable storage medium containing a set of instructions for a general purpose computer, the set of instructions comprising:

• acquiring at least one reference image under a first set of geometric conditions, the reference image showing the target area and at least one first feature attached to a moving organ;
• defining the target location for the device on the reference image;
• determining a geometric relation between the first feature and the target location;
• acquiring at least one positioning image;
• detecting a second feature in the at least one positioning image;
• and
• indicating to a user a discrepancy between the target location and a current location of the device, using the second feature and the geometric relation.