Methods and apparatuses for image guided medical procedures

A method to guide a medical operation, the method comprising:

• obtaining a plurality of first images of an anatomy comprising a heart;
• combining the plurality of first images of the anatomy into a recorded image of the anatomy, the recorded image having a field of view of the anatomy larger than each of the plurality of first images;
• obtaining a real time image of the anatomy during the medical operation, the real time image having a field of view of the anatomy smaller than the recorded image, the real time image containing an image of a medical device used in the medical operation in a portion of the anatomy;
• receiving real time measurements of a cardiac parameter;
• determining a cardiac phase in which the real time image corresponds to based on the real time measurements of a cardiac parameter;
• selecting the recorded image based on the cardiac phase from a plurality of recorded images that are associated with different cardiac phases of the heart before said aligning;
• and
• aligning the real time image with the recorded image through correlation of imaging data from the real time image and the recorded image to determine a spatial relation between the real time image and the recorded image.

A non-transitory machine readable storage medium containing executable computer program instructions which when executed by a data processing system cause said system to perform a method to guide a medical operation, the method comprising:

• obtaining a plurality of first images of an anatomy;
• combining the plurality of first images of the anatomy into a recorded image of the anatomy, the recorded image having a field of view of the anatomy larger than each of the plurality of first images;
• obtaining a real time image of the anatomy during the medical operation, the real time image having a field of view of the anatomy smaller than the recorded image, the real time image containing an image of a medical device used in the medical operation in a portion of the anatomy;
• receiving real measurements of a cardiac parameter;
• determining a cardiac phase in which the real image corresponds to based on the real time measurements of a cardiac parameter
• selecting the recorded image based on the cardiac phase from a recorded images that are associated with different cardiac phases of the heart before said aligning;
• and
• aligning the real time image with the recorded image through correlation of imaging data from the real time image and the recorded image to determine a spatial relation between the real time image and the recorded image.