Method and apparatus for real time quantitative three-dimensional image reconstruction of a moving organ and intra-body navigation

• US 20020049375A1
• Filed: 09/07/2001
• Published: 04/25/2002
• Est. Priority Date: 05/18/1999
• Status: Active Grant

• Current Assignee: ST JUDE MEDICAL INTERNATIONAL HOLDING S. R.L.
• Original Assignee: MediGuide Ltd (Abbott Laboratories Incorporated)
• Inventors: Eichler, Uzi, Schwartz, Liat, Strommer, Gera M.
• Granted Patent: US 7,343,195 B2
• Time in Patent Office: Days
• US Class Current: 600/407
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3782 transmitter or receiver in catheter or minimal invasive instrument
• CPC Class Codes: A61B 2090/3784 both receiver and transmitter being in the instrument or receiver being also transmitter
• CPC Class Codes: A61B 2090/3958 emitting a signal
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 5/0066 Optical coherence imaging
• CPC Class Codes: A61B 5/015 By temperature mapping of body part
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/352 Detecting R peaks, e.g. for synchronising diagnostic apparatus; Estimating R-R interval
• CPC Class Codes: A61B 5/7285 for synchronising or triggering a physiological measurement or image acquisition with a physiological event or waveform, e.g. an ECG signal A61B6/5205, A61B6/541, A61B8/5207, A61B8/543 take precedence
• CPC Class Codes: A61B 5/7445 : Display arrangements, e.g. multiple display units
• CPC Class Codes: A61B 6/503 : for diagnosis of the heart
• CPC Class Codes: A61B 6/504 : for diagnosis of blood vessels, e.g. by angiography
• CPC Class Codes: A61B 6/5247 : combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 6/541 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 8/0833 : involving detecting or locating foreign bodies or organic structures
• CPC Class Codes: A61B 8/0841 : for locating instruments
• CPC Class Codes: A61B 8/0891 : for diagnosis of blood vessels
• CPC Class Codes: A61B 8/12 : in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4227 : characterised by straps, belts, cuffs or braces
• CPC Class Codes: A61B 8/4254 : using sensors mounted on the probe
• CPC Class Codes: A61B 8/463 : characterised by displaying multiple images or images and diagnostic data on one display composite display in devices for short-range imaging with acoustic waves G01S7/52074
• CPC Class Codes: A61B 8/483 : involving the acquisition of a 3D volume of data
• CPC Class Codes: A61B 8/5238 : for combining image data of patient, e.g. merging several images from different acquisition modes into one image for image registration algorithms G06T7/30
• CPC Class Codes: A61B 90/10 : for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras

Abstract

Medical imaging and navigation system including a processor, a medical positioning system (MPS), a two-dimensional imaging system and an inspected organ monitor interface, the MPS including an imaging MPS sensor, the two-dimensional imaging system including an image detector, the processor being coupled to a display unit and to a database, the MPS being coupled to the processor, the imaging MPS sensor being firmly attached to the image detector, the two-dimensional imaging system being coupled to the processor, the image detector being firmly attached to an imaging catheter.

Claims

1. Medical imaging and navigation system comprising:

a processor, coupled to a display unit and to a database;

a medical positioning system (MPS), coupled to said processor, including an imaging MPS sensor, said imaging MPS sensor being firmly attached to an image detector;

a two-dimensional imaging system, coupled to said processor, including said image detector, said image detector being firmly attached to an imaging catheter; and

an inspected organ monitor interface, coupled to said processor and to an organ monitor, said organ monitor monitoring an organ timing signal associated with an inspected organ.

2. The system according to claim 1, wherein said processor receives:

a plurality of two-dimensional images from said two-dimensional imaging system, acquired by said image detector;

location and orientation information associated with said image detector from said medical positioning system, as detected by said imaging MPS sensor, for each said two-dimensional images; and

organ timing signal from said inspected organ monitor interface, as detected by said organ monitor, for each said two-dimensional images.

3. The system according to claim 2, wherein for each of said two-dimensional images, said processor associates said two-dimensional image with said location and orientation information of said image detector, respective of said two-dimensional image and with said detected organ timing signal, respective of said two-dimensional image.

4. The system according to claim 2, wherein said processor stores said two-dimensional image, said associated location and orientation information associated with said image detector and said detected organ timing signal, in said database.

5. The system according to claim 3, wherein said processor selects at least one of said two-dimensional images, and said display unit presents a visual representation of said selected at least one two-dimensional images.

6. The system according to claim 5, wherein said visual representation is a three-dimensional reconstructed image produced from said selected at least one two-dimensional images, according to the location and orientation information of said image detector, and according to said detected organ timing signal, associated with each of said selected at least one two-dimensional images.

7. The system according to claim 6, wherein said three-dimensional reconstructed image is a quantitative model of said inspected organ.

8. The system according to claim 6, wherein said processor enables manual correction of said three-dimensional reconstructed image.

9. The system according to claim 6, wherein said three-dimensional reconstructed image is semi-transparent.

10. The system according to claim 5, wherein said visual representation is two-dimensional.

11. The system according to claim 5, wherein said detected organ timing signal respective of each of said selected at least one two-dimensional images, is substantially equal to a real time detected organ timing signal.

12. The system according to claim 5, wherein said processor computes at least one trajectory of said imaging catheter within said inspected organ, each said at least one trajectory is computed according to location and orientation information respective of a specific activity-state within said detected organ timing signal.

13. The system according to claim 12, wherein for each activity state of said detected organ timing signal, said processor superimposes the respective one of said at least one trajectory on the respective one of said visual representations.

14. The system according to claim 12, wherein said processor selects said at least one computed trajectory according to a real time detected organ timing signal,

wherein said processor superimposes a representation of said selected at least one computed trajectory on said visual representation, and

wherein the result of said superimposition it to be presented by said display.

15. The system according to claim 14, wherein said processor selects a portion of said selected at least one computed trajectory according to a real time detected location and orientation of a surgical catheter.

16. The system according to claim 15, wherein said surgical catheter comprises an interventional catheter and a surgical tool.

17. The system according to claim 16, wherein said surgical tool is selected from the list consisting of:

clamp;

laser cutter;

brush;

catheter;

stent;

balloon;

pace maker electrode;

solution dispensing unit;

neuron electrode;

substance collection unit;

surgical delivery tool;

endoscope;

gene delivery tool;

drug delivery tool;

device delivery tool;

ablation catheter;

electrophysiological mapping device;

imaging device; and

a combination thereof.

18. The system according to claim 5, wherein a renderer renders said visual representation according to reference coordinates.

19. The system according to claim 17, wherein said reference coordinates are selected from the list consisting of:

image detector coordinates;

inspected organ coordinates; and

coordinates of the body of the patient.

20. The system according to claim 1, wherein said database is volumetric.

21. The system according to claim 1, wherein said processor produces an alarm signal, when said processor detects that the travel speed of said imaging catheter within said inspected organ, is greater than a predetermined value.

22. The system according to claim 20, wherein said alarm signal is selected from the list consisting of:

audio;

visual; and

tactile.

23. The system according to claim 1, wherein said image detector is selected from the list consisting of:

thermographic imaging element;

optical coherence tomography imaging element;

intravascular ultrasound transducer;

intracardiac ultrasound transducer,

any ultrasound transducer attached to an endoscope and

magnetic resonance imaging element.

24. The system according to claim 1, wherein said medical positioning system further includes a body MPS sensor, for attaching to the body of the patient.

25. The system according to claim 1, wherein said display unit is selected from the list consisting of:

two-dimensional display;

auto-stereoscopic display; and

goggles.

26. The system according to claim 24, wherein said goggles are semi-transparent.

27. The system according to claim 5, wherein said medical positioning system further includes a goggles MPS sensor,

wherein said display unit includes semi-transparent goggles, being attached to said goggles MPS sensor, and

wherein said processor selects a viewing plane for said visual representation, according to the location and orientation information received from said goggles MPS sensor.

28. The system according to claim 26, wherein said location and orientation of said goggles MPS sensor is provided within the coordinate system of said medical positioning system.

29. The system according to claim 1, wherein said two-dimensional imaging system is selected from the list consisting of:

ultra-sound;

thermography;

optical coherence tomography;

inner-vascular ultra-sound;

X-ray;

nuclear magnetic resonance;

computerized tomography;

positron-emission tomography; and

single-photon-emission tomography.

30. Medical imaging and navigation system comprising:

a processor, coupled to a display unit and to a database;

a medical positioning system (MPS), coupled to said processor, including a catheter MPS sensor, said catheter MPS sensor being firmly attached to a surgical tool, said surgical tool being firmly attached to a surgical catheter; and

an inspected organ monitor interface, coupled to said processor and to an organ monitor, said organ monitor monitoring an organ timing signal associated with an inspected organ.

31. The system according to claim 30, wherein said processor receives:

said organ timing signal from said inspected organ monitor interface, as detected by said organ monitor; and

location and orientation information associated with said surgical tool, from said medical positioning system, as detected by said catheter MPS sensor.

32. The system according to claim 31, wherein said processor retrieves images of said inspected organ from said database.

33. The system according to claim 32, wherein said processor selects said at least one reconstructed image, according to said organ timing signal.

34. The system according to claim 33, wherein said processor superimposes a visual representation of said surgical tool on said selected at least one reconstructed image, according to said location and orientation information associated with said surgical tool.

35. The system according to claim 34, wherein said selected at least one reconstructed image is a quantitative model of said inspected organ.

36. The system according to claim 34, wherein said processor enables manual correction of said selected at least one reconstructed image.

37. The system according to claim 33, wherein said selected at least one reconstructed image is semi-transparent.

38. The system according to claim 33, wherein said processor superimposes a trajectory on said selected at least one reconstructed image.

39. The system according to claim 38, wherein said database contains a plurality of trajectories stored in said database, each said trajectories being associated with an organ timing signal activity state, and

wherein said processor retrieves said trajectory from said trajectories, according to the activity state determined from a real-time measurement of said organ timing signal.

40. The system according to claim 39, wherein said processor updates said retrieved trajectory according to said location and orientation information associated with said surgical tool.

41. The system according to claim 38, wherein said processor computes a at least one trajectory, each said at least one trajectory being computed from said location and orientation information associated with said surgical tool and respective of a selected activity state of said organ timing signal, and

wherein said processor selects said trajectory from said at least one trajectory according to said organ timing signal.

42. The system according to claim 38, wherein said processor produces a predetermined representation for that portion of said trajectory which is located behind a point defined by said location and orientation information associated with said surgical tool, and

wherein said processor produces a different predetermined representation for that portion of said trajectory, which is located in front of, said point defined by said location and orientation information associated with said surgical tool.

43. The system according to claim 32, wherein said at least one reconstructed image is three-dimensional.

44. The system according to claim 32, wherein said at least one reconstructed image is two-dimensional.

45. The system according to claim 33, wherein the activity-state of an organ timing signal associated with said selected at least one reconstructed image, is substantially equal to a real time activity-state measurement of said organ timing signal.

46. The system according to claim 39, wherein said organ timing signal associated with said selected at least one computed trajectory, is substantially equal to a real time detected organ timing signal.

47. The system according to claim 34, wherein said representation of said surgical tool comprises a projection of a three-dimensional representation of said representation of said surgical tool, on said selected at least one reconstructed image.

48. The system according to claim 34, wherein said visual representation of said surgical tool comprises a projection of a three-dimensional representation of said representation of said surgical tool, on said selected at least one reconstructed image.

49. The system according to claim 34, wherein said representation of said surgical tool indicates an estimated location of said surgical tool.

50. The system according to claim 34, wherein said representation of said surgical tool indicates the orientation of said surgical tool.

51. The system according to claim 34, wherein portions of said surgical tool which are located above, below and within a viewed plane, are presented in different colors.

52. The system according to claim 34, wherein said representation of said surgical tool is in the form of a cursor.

53. The system according to claim 34, wherein said representation of said surgical tool is a pseudo realistic visualization of said surgical tool.

54. The system according to claim 33, wherein said selected at least one reconstructed image is a three-dimensional image reconstructed from said selected two-dimensional images, according to said location and orientation information associated with said surgical tool and with said selected two-dimensional images, discarding portions in said selected two-dimensional images which represent said surgical tool.

55. The system according to claim 33, wherein a renderer renders said selected at least one reconstructed image according to reference coordinates.

56. The system according to claim 55, wherein said reference coordinates are selected from the list consisting of:

surgical tool coordinates;

inspected organ coordinates; and

coordinates of the body of the patient.

57. The system according to claim 30, wherein said database is volumetric.

58. The system according to claim 30, wherein said medical positioning system further includes a body MPS sensor, for attaching to the body of the patient.

59. The system according to claim 30, wherein said display unit is selected from the list consisting of:

two-dimensional display;

auto-stereoscopic display; and

goggles.

60. The system according to claim 59, wherein said goggles are semi-transparent.

61. The system according to claim 33, wherein said medical positioning system further includes a goggles MPS sensor,

wherein said display unit includes semi-transparent goggles, being attached to said goggles MPS sensor, and

wherein said processor selects a viewing plane for said selected at least one reconstructed image, according to the location and orientation information received from said goggles MPS sensor.

62. The system according to claim 61, wherein said location and orientation of said goggles MPS sensor is provided within the coordinate system of said medical positioning system.

63. The system according to claim 30, wherein said surgical tool is selected from the list consisting of:

clamp;

laser cutter;

brush;

catheter;

stent;

balloon;

pace maker electrode;

solution dispensing unit;

neuron electrode;

substance collection unit;

surgical delivery tool;

gene delivery tool;

drug delivery tool;

device delivery tool;

ablation catheter;

endoscope;

electrophysiological mapping device;

imaging device; and

a combination thereof.

64. The system according to claim 38, further comprising a real-time imaging system coupled to said processor, wherein said processor receives real-time image data respective of a portion of the patient, said portion includes said inspected organ, and

wherein said display unit displays a real-time image of said portion.

65. The system according to claim 64, wherein said real-time imaging system is selected from the list consisting of:

fluoroscopic;

X-ray;

Ultrasound; and

Magnetic Resonance Imaging.

66. The system according to claim 64, wherein said processor selects said at least one reconstructed image, according to the activity state of a real-time measurement of said organ timing signal.

67. The system according to claim 66, wherein said processor superimposes a representation of said selected at least one reconstructed image on said real-time image, according to the location and orientation of said real-time imaging system and according to the location and orientation of said inspected organ.

68. The system according to claim 67, wherein said processor selects one of a plurality of computed trajectories according to the activity state of a real-time measurement of said organ timing signal.

69. The system according to claim 68, wherein said processor superimposes a representation of said selected computed trajectory on said real-time image.

70. The system according to claim 64, wherein said processor superimposes a representation of said surgical tool on said real-time image, according to said location and orientation information associated with said surgical tool.

71. The system according to claim 70, wherein said processor produces a predetermined representation for that portion of said trajectory which is located behind a point defined by said location and orientation information associated with said surgical tool,

and wherein said processor produces a different predetermined representation for that portion of said trajectory, which is located in front of, said point defined by said location and orientation information associated with said surgical tool.

72. The system according to claim 64, wherein the location of said real-time imaging system in the coordinate system of said medical positioning system, is determined according to a fixed predetermined location, relative to a transmitter coupled to said medical positioning system.

73. The system according to claim 64, wherein the location of said real-time imaging system in the coordinate system of said medical positioning system, is determined according to the location of an MPS sensor coupled to said real-time imaging system.

74. Graphical user interface comprising a plurality of windows, wherein each of said windows presents at least one image of an inspected organ, and

wherein at least a selected one of said at least one image is selected according to an organ timing signal.

75. The graphical user interface according to claim 74, wherein at least a portion of at least one of said at least one image is reconstructed from a plurality of selected two-dimensional images, and

wherein said selected two-dimensional images are selected from a plurality of two-dimensional images, according to location and orientation information associated with said two-dimensional images and according to an organ timing signal associated with said two-dimensional images.

76. The graphical user interface according to claim 74, wherein at least one of said at least one image is a real time two-dimensional image.

77. The graphical user interface according to claim 74, wherein at least one of said at least one image is a reconstructed two-dimensional image.

78. The graphical user interface according to claim 74, wherein at least one of said at least one image is an internal three-dimensional navigation image.

79. The graphical user interface according to claim 74, wherein at least one of said at least one image is an external three-dimensional navigation image.

80. The graphical user interface according to claim 74, wherein at least one of said at least one image is a transverse cross sectional image.

81. The graphical user interface according to claim 74, wherein at least one of said at least one image is a longitudinal cross sectional image.

82. The graphical user interface according to claim 74, wherein at least one of said at least one image is semi-transparent.

83. The graphical user interface according to claim 74, wherein at least one of said at least one image is a quantitative model of said inspected organ.

84. The graphical user interface according to claim 74, wherein at least one of said windows further comprises a representation of a surgical tool superimposed on the respective one of said at least one image.

85. The graphical user interface according to claim 74, wherein at least one of said windows further comprises a representation of a trajectory of a catheter, superimposed on the respective one of said at least one image.

86. The graphical user interface according to claim 85, wherein a portion of said representation of said trajectory located behind the location of the tip of a surgical tool, and another portion of said representation of said trajectory located in front of said location of said tip of said surgical tool, are represented differently.

87. The graphical user interface according to claim 79, wherein at least one of said windows further comprises a projection of said external three-dimensional navigation image superimposed on a real time two-dimensional image.

88. The graphical user interface according to claim 87, wherein said at least one window further comprises a representation of a trajectory of a catheter, superimposed on said real time two-dimensional image.

89. The graphical user interface according to claim 88, wherein said at least one window further comprises a representation of a surgical tool, superimposed on said real time two-dimensional image.

90. The graphical user interface according to claim 83, wherein at least one of said windows further comprises a representation of a trajectory of a catheter, superimposed on said real time two-dimensional image.

91. The graphical user interface according to claim 78, wherein said at least one window further comprises a representation of a surgical tool, superimposed on said internal three-dimensional navigation image.

92. The graphical user interface according to claim 91, wherein said at least one window further comprises a predetermined representation for that portion of said trajectory which is located behind a point defined by said location and orientation information associated with said surgical tool, and a different predetermined representation for that portion of said trajectory which is located in front of said point defined by said location and orientation information associated with said surgical tool.

93. The graphical user interface according to claim 92, wherein a representation of said surgical catheter is superimposed on another portion of said internal three-dimensional navigation image, located behind said representation of said surgical tool.

94. The graphical user interface according to claim 74, further comprising:

a graphical representation of said organ timing signal;

a forward button, associated with an advancing operation for moving forward in time within said organ timing signal;

a backward button, associated with an rewinding operation for moving backward in time within said organ timing signal; and

a freeze button, associated with a stop operation for halting in time within said organ timing signal.

95. The graphical user interface according to claim 94, wherein said windows present said at least one image, corresponding to a selected activity-state in said organ timing signal.

96. The graphical user interface according to claim 80, wherein said at least one window further comprises a presentation of information respective of the values of a plurality of geometrical parameters of said transverse cross sectional image.

97. The graphical user interface according to claim 81, wherein said at least one window further comprises a presentation of information respective of the values of a plurality of geometrical parameters of said longitudinal cross sectional image.

98. The graphical user interface according to claim 96, wherein said geometrical parameters are selected from the list consisting of:

diameter of said inspected organ;

area of said inspected organ;

percent occlusion of said inspected organ; and

size of a plaque in said inspected organ.

99. The graphical user interface according to claim 97, wherein said geometrical parameters are selected from the list consisting of:

diameter of said inspected organ;

area of said inspected organ;

percent occlusion of said inspected organ; and

size of a plaque in said inspected organ.

100. The graphical user interface according to claim 96, wherein said information is presented in text format.

101. The graphical user interface according to claim 97, wherein said information is presented graphically.

102. The graphical user interface according to claim 97, wherein said information is presented vocally.

103. The graphical user interface according to claim 74, wherein said graphical user interface is displayed via a two-dimensional display.

104. The graphical user interface according to claim 74, wherein said graphical user interface is displayed via an auto-stereoscopic display.

105. The graphical user interface according to claim 74, wherein said inspected organ includes at least one bifurcation, and

wherein said at least one image includes a bifurcation representation respective of said at least one bifurcation.

106. The graphical user interface according to claim 105, wherein said bifurcation representation is selected from the list consisting of:

polygon;

closed curve;

open curve;

straight line with an end;

straight line without an end;

different colors; and

animation.

107. The graphical user interface according to claim 105, wherein at least one of said windows further comprises a representation of a trajectory of a catheter, superimposed on said bifurcation representation.

108. Method for displaying at least one occluded region of an inspected organ, the method comprising the procedures of:

comparing a plurality of occlusion values of said inspected organ, with a selected occlusion value;

determining said at least one occluded region according to the outcome of said comparison; and

producing a presentation of said at least one occluded region.

109. The method according to claim 108, further comprising a preliminary procedure of determining said occlusion values.

110. The method according to claim 109, further comprising a preliminary procedure of receiving said selected occlusion value.

111. The method according to claim 110, wherein said procedure of receiving is performed via a user interface.

112. The method according to claim 111, wherein said user interface is selected from the list consisting of:

graphical;

textual; and

audio.

113. The method according to claim 108, wherein said at least one occluded region is determined, when said occlusion values are greater than said selected occlusion value.

114. The method according to claim 108, further comprising a preliminary procedure of producing an image of said inspected organ, before said procedure of producing a presentation of said at least one occluded region.

115. The method according to claim 114, further comprising a procedure of superimposing said representation of said at least one occluded region on said image.

116. The method according to claim 114, wherein said image is a real time two-dimensional image.

117. The method according to claim 114, wherein said image is a reconstructed two-dimensional image.

118. The method according to claim 114, wherein said image is an internal three-dimensional navigation image.

119. The method according to claim 114, wherein said image is an external three-dimensional navigation image.

120. The method according to claim 114, wherein said image is a quantitative model of said inspected organ.

121. The method according to claim 114, wherein said image is manually corrected.

122. The method according to claim 114, wherein said image is reconstructed from a plurality of selected two-dimensional images, and

wherein said selected two-dimensional images are selected from a plurality of two-dimensional images, according to location and orientation information associated with said two-dimensional images and according to an organ timing signal associated with said two-dimensional images.

124. The method according to claim 123, further comprising a preliminary procedure of selecting said selected activity-state.

125. The method according to claim 124, further comprising a procedure of determining the coordinates of each of a plurality of two-dimensional images, which belong to said selected activity-state.

126. The method according to claim 125, further comprising a procedure of determining the coordinates of each of a plurality of auxiliary two-dimensional images, which belong to activity-states other than said selected activity-state.

127. The method according to claim 123, further comprising a procedure of reconstructing said image.

128. The method according to claim 127, further comprising a procedure of displaying said reconstructed image.

129. The method according to claim 127, further comprising a procedure of superimposing said reconstructed image on a real time image.

130. The method according to claim 129, further comprising a procedure of displaying the result of said superimposition.

131. The method according to claim 127, further comprising a procedure of selecting one of a plurality of computed trajectories, according to said selected activity-state.

132. The method according to claim 131, further comprising a procedure of superimposing a representation of said selected computed trajectory on said reconstructed image.

133. The method according to claim 132, further comprising a procedure of displaying the result of said superimposition.

134. The method according to claim 131, further comprising a procedure of superimposing a representation of a surgical tool on said reconstructed image, according to location and orientation information associated with said surgical tool.

135. The method according to claim 134, further comprising a procedure of displaying the result of said superimposition.

136. The method according to claim 134, further comprising the procedures of:

producing a predetermined representation for that portion of said selected computed trajectory which is located behind a point defined by said location and orientation information associated with said surgical tool, and

producing a different predetermined representation for that portion of said selected computed trajectory which is located in front of said point defined by said location and orientation information associated with said surgical tool.

137. The method according to claim 123, wherein said determining procedure is performed according to the original coordinates of said auxiliary two-dimensional image and according to a trajectory associated with said selected activity-state.

138. The method according to claim 123, wherein said image is two-dimensional.

139. The method according to claim 123, wherein said image is an internal three-dimensional navigation image.

140. The method according to claim 123, wherein said image is an external three-dimensional navigation image.

141. The method according to claim 123, wherein said image is semi-transparent.

142. The method according to claim 123, wherein said image is a quantitative model of said inspected organ.

143. The method according to claim 123, wherein said image is manually corrected.

144. The method according to claim 123, wherein said determining procedure and said associating procedure are repeated.

145. The method according to claim 123, wherein said reconstructing procedure is performed by employing a plurality of two-dimensional images which belong to said selected activity-state, and a plurality of auxiliary two-dimensional images which belong to a plurality of activity-states other than the selected activity-state.

146. The method according to claim 123, wherein said selected activity-state is substantially equal to a real time activity-state measurement of an organ timing signal.

148. The method according to claim 147, further comprising the following procedures, after said procedure of selecting:

detecting the location and orientation of a surgical tool; and

superimposing a representation of said surgical tool onto said selected three-dimensional image, according to said detected location and orientation of said surgical tool.

149. The method according to claim 147, further comprising the following procedures, after said procedure of selecting:

detecting the location and orientation of a surgical tool; and

superimposing a representation of said detected location and orientation of said surgical tool, onto said selected three-dimensional image.

150. The method according to claim 147, further comprising the following procedures, prior to said procedure of displaying:

detecting a real time image; and

superimposing a projection of said selected three-dimensional image, onto said detected real time image.

151. The method according to claim 148, wherein said detected location and orientation of said surgical tool and said detected location and orientation of said image detector, both reside in a single coordinate system.

152. The method according to claim 148, wherein said surgical tool is selected from the list consisting of:

clamp;

laser cutter;

brush;

catheter;

stent;

balloon;

pace maker electrode;

solution dispensing unit;

neuron electrode;

substance collection unit;

surgical delivery tool;

gene delivery tool;

drug delivery tool;

device delivery tool;

ablation catheter;

endoscope;

electrophysiological mapping device;

imaging device; and

a combination thereof.

153. The method according to claim 148, wherein said representation of said surgical tool indicates an estimated location of said surgical tool.

154. The method according to claim 148, wherein said representation of said surgical tool indicates the orientation of said surgical tool.

155. The method according to claim 148, wherein said representation of said surgical tool is in the form of a cursor.

156. The method according to claim 148, wherein said representation of said surgical tool is a pseudo realistic visualization of said surgical tool.

157. The method according to claim 148, wherein said representation of said surgical tool comprises a projection of a three-dimensional representation of said representation of said surgical tool, on a real time image.

158. The method according to claim 147, wherein said procedure of reconstruction is performed further according to the location and orientation information associated with each said selected two-dimensional images.

123. Method for reconstructing an image, the method comprising the procedures of:

determining translated coordinates for an auxiliary two-dimensional image, which belongs to an activity-state other than a selected activity-state; and

associating said auxiliary two-dimensional image with said selected activity-state, according to said translated coordinates.

147. Method for displaying an image sequence of a moving inspected organ, the method comprising the procedures of:

detecting an organ timing signal of said inspected organ, said organ timing signal defining an organ timing signal cycle;

detecting a plurality of two-dimensional images of said inspected organ, using an image detector;

detecting the location and orientation of said image detector;

associating each of said two-dimensional images with said image detector location and orientation and with said detected organ timing signal;

reconstructing a plurality of three-dimensional images from said two-dimensional images, each said three-dimensional images being reconstructed from two-dimensional images selected from said two-dimensional images, said selected two-dimensional images corresponding to a selected position within said organ timing signal cycle;

selecting one of said three-dimensional images according to a real-time reading of said organ timing signal; and

displaying said selected three-dimensional image.