Compensation for heart movement using coronary sinus catheter images

An apparatus, comprising:

• a cardiac catheter adapted for introduction into a coronary sinus of a heart of a living subject;
• a display;
• and
• a processor, which is cooperative with a fluoroscopic imaging device for performing the steps of:
• while the catheter is in the coronary sinus activating the fluoroscopic imaging device to acquire a first set of frames comprising 2-dimensional images of the catheter and thereafter acquiring a second set of frames comprising 2-dimensional images of the catheter;
• establishing respective 2-dimensional models of the catheter in synchronized frames of the first set and the second set, the 2-dimensional models comprising respective tracked 2-dimensional paths of the catheter;
• synchronizing the first set with the second set by identifying frames of the first set and the second set that are in respective phases of a cardiorespiratory cycle;
• constructing first and second 3-dimensional models of the catheter from the synchronized frames;
• geometrically transforming the first and second 3-dimensional models to minimize a distance function therebetween;
• and
• displaying the transformed 3-dimensional models on the display.