Method and a system for registering a 3D pre-acquired image coordinates system with a medical positioning system coordinate system and with a 2D image coordinate system

System for registering a three dimensional (3D) coordinate system with a Medical Positioning System (MPS) coordinate system and a two dimensional (2D) coordinate system, the system including a medical imaging system for acquiring a 2D image of a volume of interest within the body of a patient, and a 3D medical images database for storing a pre-acquired 3D image of said volume of interest, the 2D image being associated with the 2D coordinate system, the pre-acquired 3D image being associated with the 3D coordinate system, the volume of interest including an organ, the system comprising:

• an MPS associated with said MPS coordinate system, said MPS comprising:
• a plurality of MPS transmitters for generating an electromagnetic field;
• and
• an MPS sensor for acquiring a plurality of MPS points within said at least one organ, said MPS sensor being associated with said MPS coordinate system, said MPS coordinate system being registered with said 2D coordinate system;
• and
• a coordinate systems registration processor coupled with said MPS, with said medical imaging system, and with said 3D medical images database, said coordinate systems registration processor configured to:
• extract a 3D image model of said organ from the pre-acquired 3D image of said organ;
• estimate a volumetric model of said organ according to said MPS points;
• and
• register said 3D coordinate system with said MPS coordinate system by matching said 3D image model with said volumetric model,
• wherein said 2D coordinate system, said 3D coordinate system, and said MPS coordinate system are three different coordinate systems.

Method for registering a three dimensional (3D) coordinate system with a Medical Positioning System (MPS) coordinate system, the method comprising:

• acquiring MPS points within an organ within a volume of interest of the body of a patient, said MPS points being associated with said MPS coordinate system;
• extracting a 3D image model of said organ from a pre-acquired 3D image of said volume of interest, said pre-acquired 3D image and said 3D image model being associated with said 3D coordinate system;
• estimating a volumetric model of said organ according to said acquired MPS points;
• and
• registering said 3D coordinate system with said MPS coordinate system by matching said extracted 3D image model with said estimated volumetric model.