Method for performing dynamic registration, overlays, and 3D views with fluoroscopic images

A method of dynamically updating overlay images on fluoroscopic images to aid in medical procedures, comprising:

• a. securing a lasso catheter to a first anatomical structure of a first person that allows the lasso catheter to move in synchronization with a second anatomical structure of the first person;
• b. performing a rigid registration of an overlay image with real-time fluoroscopic images of the first and second anatomical structures using the lasso catheter;
• c. tracking movement of the lasso catheter and the real-time fluoroscopic images of the first and second anatomical structures and estimating the motion of the lasso catheter and the real-time fluoroscopic images of the first and second anatomical structures;
• d. determining from the tracking and estimating step whether or not the lasso catheter is no longer secured to the first anatomical structure;
• e. stopping tracking and estimating if it is determined that the lasso catheter is no longer secured to the first anatomical structure, or updating registration of the overlay image with the real-time fluoroscopic images if it is determined that the lasso catheter is secured to the first anatomical structure;
• f. continuing the steps of c-e upon updating registration of the overlay image with the real-time fluoroscopic images;
• and
• g. fixing the second anatomical structure such that it does not move and does not impact motion of the lasso catheter so that movements of the lasso catheter only induced by a second person other than the first person are shown when steps c-f are continued.