Apparatus and method for registration of points of a data field with respective points of an optical image

An apparatus for imaging the interior of bodies;

• the apparatus comprising:
• a camera having an endoscope operably attached thereto;
• a first position sensor attached to the camera or the endoscope to provide a frame of reference with respect to the camera;
• a second position sensor adapted to be attached to a body to compensate for changes in position of the body;
• a monitor for displaying an optical image recorded by the camera together with a data field representing a model to be superimposed on the optical image;
• a computer comprising a memory device for storing the data field representing the model;
• means for detecting the position of the first position sensor;
• and
• means for registering selected points of the data field representing points of the model with respective points of the optical image by displacement of a second image corresponding to at least one point of the data field displayed on the monitor to be superimposed on the optical image.