Method and apparatus for performing image guided medical procedure

An apparatus for performing an image guided medical procedure, comprising

• (1) a first module (or control circuit) for generating a virtual anatomical part for treatment planning from at least CT or MRI scanning of an actual anatomical part of a patient;
• (2) a second module (or control circuit) for acquiring a virtual combined model of actual tracking markers and at least a part of an actual anatomical part, wherein the virtual combined model comprises a first sub-model from the actual tracking markers and a second sub-model from said at least a part of the actual anatomical part;
• wherein the actual tracking markers are attached to the actual anatomical part;
• and wherein the actual anatomical part and the actual tracking markers attached therewith maintain a spatial relationship during the image guided medical procedure;
• (3) a third module (or control circuit) for registering the virtual combined model to said virtual anatomical part by selecting at least a part of the second sub-model and matching the part to its counterpart in the virtual anatomical part;
• (4) a fourth module (or control circuit) for generating a working model including the virtual anatomical part and virtual tracking markers, the two having a spatial relationship same as the spatial relationship in the second module;
• and
• (5) a tracking system for tracking position and orientation of the actual tracking markers, registering the tracked position and orientation of the actual tracking markers to the working, model, and calculating and tracking position and orientation of the virtual anatomical part in real-time based on the spatial relationship in the fourth module, which are the same as the position and orientation of the actual anatomical part, during the image guided medical procedure.