Registration method and navigation system

Abstract

The invention relates to a method for automatically registering an object, the method comprising the steps of providing a preoperatively obtained model of the object, providing at least one marker carrier having a plurality of fluoroscopically detectable markers and at least one marker localization element fixed on it, wherein the at least one marker localization element being configured to provide a sensor signal representing position and orientation of the marker localization element in an electromagnetic field, and relative distance and orientation between at least one marker localization element and at least one marker of the plurality of markers are known, arranging the at least one marker carrier on an outer surface of the object, generating at least one fluoroscopic image of at least one marker carrier arranged on the outer surface together with at least one segment of the object in such a way that at least two markers of at least one marker carrier are visible in the generated fluoroscopic image together with at least one segment of the object, determining position and orientation at least of one marker localization element of the arranged marker carrier in an electromagnetic field, and relating image points of the generated fluoroscopic image to model points of said preoperatively obtained model using the determined position and orientation of at least one marker localization element and the known relative distance and orientation between at least one marker localization element and at least one marker of the plurality of markers and/or a known spatial relation between a further marker of the plurality of markers and the at least one marker that has a known relative distance and orientation to at least one marker localization element.

Dependencies are inferred from the claim text.