METHOD AND A SYSTEM FOR REGISTERING A 3D PRE-ACQUIRED IMAGE COORDINATE SYSTEM WITH A MEDICAL POSITIONING SYSTEM COORDINATE SYSTEM AND WITH A 2D IMAGE COORDINATE SYSTEM

摘要

Method for registering a three dimensional (3D) pre acquired image coordinates system with a Medical Positioning System (MPS) coordinate system and a two dimensional (2D) image coordinate system, the method comprising acquiring a 2D image of a volume of interest, the volume including an organ, the 2D image being associated with the 2D coordinate system, acquiring MPS points within the organ, the MPS points being associated with the MPS coordinate system, the MPS coordinate system being registered with the 2D coordinate system, extracting a 3D image model of the organ from a pre acquired 3D image of the volume of interest, estimating a volumetric model of the organ from the acquired MPS points and registering the 3D coordinate system with the MPS coordinate system by matching the extracted 3D image model and the estimated volumetric model of the organ.