System and method of recording and displaying in context of an image a location of at least one point-of-interest in a body during an intra-body medical procedure

• US 6,226,543 B1
• Filed: 10/28/1998
• Issued: 05/01/2001
• Est. Priority Date: 09/24/1998
• Status: Expired due to Term

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Super Dimension Ltd.
• Inventors: Gilboa, Pinhas, Tolkowsky, David, Hollander, David
• Primary Examiner(s): Lateef, Marvin M.
• Assistant Examiner(s): Lin, Jeoyuh
• Application Number:
  US09/179,827
• Time in Patent Office: 916 Days
• Field of Search: 600/372-381, 600/407, 600/410, 600/411, 600/415, 600/417, 600/425, 600/427, 600/429, 600/431, 600/437, 600/440, 600/486, 600/561, 606/130, 364/413.14, 378/988
• US Class Current: 600/407
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2017/00703 correcting for movement of heart, e.g. ECG-triggered
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/378 using ultrasound
• 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 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 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

The present invention provides a method of recording and displaying in context of an image a location of at least one point-of-interest in a body during an intra-body medical procedure. The method is effected by (a) establishing a location of the body; (b) inserting at least one catheter into a portion of the body, the at least one catheter including a first location implement; (c) using an imaging instrument for imaging the portion of the body; (d) establishing a location of the imaging instrument; (e) advancing the at least one catheter to at least one point-of-interest in the portion of the body and via a locating implement recording a location of the at least one point-of-interest; and (f) displaying and highlighting the at least one point-of-interest in context of an image of the portion of the body, the image being generated by the imaging instrument; such that, in course of the procedure, the locations of the body, the at least one catheter and the imaging instrument are known, thereby the at least one point-of-interest is projectable and displayable in context of the image even in cases whereby a relative location of the body and the imaging instrument are changed.

Claims

1. A method of recording and displaying in context of an image a location of a plurality of points-of-interest in a body during an intra-body medical procedure, the method comprising the steps of:

(a) establishing a location of the body;

(b) inserting at least one catheter into a portion of the body, said at least one catheter including a first location implement;

(c) using an imaging instrument for imaging said portion of the body;

(d) establishing a location of said imaging instrument;

(e) advancing said at least one catheter to a plurality of points-of-interest all having a common nature or property in said portion of the body and via a locating implement recording a location of each of said plurality of points-of-interest; and

(f) displaying and highlighting said plurality of points-of-interest by a line connecting thereamongst in context of an image of said portion of the body, said image being generated by said imaging instrument;

such that, in course of said procedure, said location of said body, said at least one catheter and said imaging instrument are known, thereby said plurality of points-of-interest are projectable and displayable in context of said image even in cases whereby a relative location of said body and said imaging instrument are changed.

2. The method of claim 1, wherein establishing said location of the body is effected by attaching a second location implement onto said body and establishing the location of the body via said locating implement.

3. The method of claim 2, wherein said second location implement and said locating implement form a locating system selected from the group consisting of electromagnetic locating system, magnetic locating system, acoustic locating system, and stereopair optical system.

4. The method of claim 1, wherein establishing said location of the body is effected by ensuring that said body is fixed at a known location during the procedure.

5. The method of claim 1, wherein establishing said location of the body is effected by image processing of features in said image.

6. The method of claim 5, wherein said features are imageable markers made is contact with the body.

7. The method of claim 6, wherein said markers are distinguishable from one another.

8. The method of claim 1, wherein establishing said location of the body is synchronized with physiological activity of the body.

9. The method of claim 1, wherein said at least one catheter includes a probing catheter.

10. The method of claim 1, wherein said at least one catheter having an ablation ability.

11. The method of claim 1, wherein said at least one catheter includes a sensor for sensing local information within the body.

12. The method of claim 1, wherein said at least one catheter includes a plurality of electrodes for simultaneously collecting local electric information from inner walls of a heart cavity.

13. The method of claim 1, wherein said at least one catheter includes a strain gauge.

14. The method of claim 1, wherein said at least one catheter includes a plurality of first location implements along at least a part of its length, each of said plurality of first location implements is locationable via said locating implement.

15. The method of claim 1, wherein said first location implement and said locating implement form a locating system selected from the group consisting of electromagnetic locating system, magnetic locating system and acoustic locating system.

16. The method of claim 1, wherein said imaging instrument is a real-time imaging instrument.

17. The method of claim 16, wherein said real-time imaging instrument is selected from the group consisting of ultrasound, fluoroscope and electrophysiology imaging.

18. The method of claim 1, wherein said imaging instrument is a non-real-time imaging instrument.

19. The method of claim 18, wherein said non-real-time imaging instrument is selected from the group consisting of computer aided tomography (CT), magnetic resonance imaging (MRI), proton emission tomography (PET) and three dimensional ultrasound.

20. The method of claim 1, wherein said imaging instrument provides a primary image of said portion of the body.

21. The method of claim 1, wherein said imaging instrument provides a secondary image of said portion of the body.

22. The method of claim 1, wherein said imaging instrument is an electro physiological imaging system.

23. The method of claim 1, wherein said imaging instrument is designed to provide an image which corresponds to a vitality map of a tissue.

24. The method of claim 1, wherein said imaging instrument is adapted for simultaneously generating at least two images each of a different plane.

25. The method of claim 1, wherein establishing said location of said imaging instrument is effected by attaching a second location implement onto said imaging instrument and establishing the location of said imaging instrument via said locating implement.

26. The method of claim 25, wherein said second location implement and said locating implement form a locating system selected from the group consisting of electromagnetic locating system, magnetic locating system, acoustic locating system, and stereopair optical system.

27. The method of claim 1, wherein establishing said location of said imaging instrument is effected by image processing of features in said image and by location information regarding said features.

28. The method of claim 27, wherein said features are imageable markers made is contact with the body.

29. The method of claim 27, wherein said features are imageable markers on said at least one catheter.

30. The method of claim 1, wherein establishing said location of said imaging instrument is effected by image processing of features in said image and by magnification information regarding said features.

31. The method of claim 1, wherein establishing said location of said imaging instrument is effected by a positioning implement inherent to said imaging instrument.

32. The method of claim 1, wherein said plurality of points-of-interest are within a heart in said body.

33. The method of claim 1, wherein said at least one catheter has treatment ability, whereas said plurality of points-of-interest include at least one point treated by said at least one catheter.

34. The method of claim 33, wherein said treatment is ablation.

35. The method of claim 33, wherein said plurality of points-of-interest include at least one point located at a displacement relative to said at least one point treated by said at least one catheter.

36. The method of claim 1, wherein said at least one catheter includes a sensor for sensing local information within the body, whereas said plurality of points-of-interest are established in accordance with said local information.

37. The method of claim 1, wherein said portion of the body is a cavity within the body.

38. The method of claim 1, wherein said portion of the body is selected from the group consisting of heart, lung, kidney, bladder, brain, colon and blood vessels.

39. The method of claim 1, wherein at least one of said locations is determined in at least three degrees of freedom.

40. The method of claim 1, wherein at least one of said locations is determined in at least four degrees of freedom.

41. The method of claim 1, wherein at least one of said locations is determined in at least five degrees of freedom.

42. The method of claim 1, wherein at least one of said locations is determined in at least six degrees of freedom.

43. The method of claim 1, wherein said plurality of points-of-interest are highlighted in a distinctive fashion indicative of their nature or properties.

44. The method of claim 1, further comprising the steps of:

(f) using at least one additional imaging instrument for imaging said portion of the body;

(g) establishing a location of said at least one additional imaging instrument;

(h) displaying and highlighting said plurality of points-of-interest in context of at least one additional image of said portion of the body, said at least one additional image being generated by said at least one additional imaging instrument;

such that, in course of said procedure, said location of said body, said at least one catheter and said at least one additional imaging instrument are known, thereby said plurality of points-of-interest are projectable and displayable in context of said at least one additional image even in cases whereby a relative location of said body and said at least one additional imaging instrument are changed.

45. The method of claim 1, wherein displaying and highlighting said plurality of points-of-interest is effected in a context of at least two images of said portion of the body, said at least two images being generated by said imaging instrument, each is of a different plane of the portion of the body.

46. The method of claim 45, wherein said at least two images are displayed simultaneously.

47. The method of claim 45, wherein said at least two images are of at least two orthogonal planes.

48. The method of claim 1, further comprising the step of receiving and storing in memory said image data.

49. The method of claim 1, further comprising the step of receiving and storing in memory said image data and said plurality of points-of-interest data.

50. The method of claim 1, further comprising the step of receiving and storing in memory said plurality of points-of-interest data.

51. The method of claim 1, wherein said locating implement is connected to said imaging instrument.

52. A system of recording and displaying in context of an image a location of a plurality of points-of-interest in a body during an intra-body medical procedure, the system comprising:

(a) a first mechanism for establishing a location of said body;

(b) at least one catheter insertable into a portion of the body, said at least one catheter being supplemented with a first location implement;

(c) an imaging instrument for imaging said portion of the body;

(d) a locating implement for locating said first location implement and for establishing a location of said at least one catheter; and

(e) a second mechanism for establishing a location of said imaging instrument;

such that, by inserting said at least one catheter into said portion of the body;

using said imaging instrument for imaging said portion of the body;

establishing a location of said imaging instrument;

advancing said at least one catheter to a plurality of points-of-interest all having a common nature or property in said portion of the body and recording a location of said plurality of points-of-interest;

so that in course of said procedure, said location of said body, said at least one catheter and said imaging instrument are known, said plurality of points-of-interest are projectable and displayable in a highlighted fashion by a line connecting thereamongst in context of an image of said portion of the body generated by said imaging instrument even in cases where a relative location of said body and said imaging instrument are changed.

53. The system of claim 52, wherein said first mechanism includes a second location implement attachable onto said body, whereas establishing said location of the body is effected via said locating implement.

54. The system of claim 53, wherein said second location implement and said locating implement form a locating system selected from the group consisting of electromagnetic locating system, magnetic locating system, acoustic locating system, and stereopair optical system.

55. The system of claim 52, wherein said first mechanism is effected by ensuring that said body is fixed at a known location during the procedure.

56. The system of claim 52, wherein said first mechanism is effected by image processing of features in said image.

57. The system of claim 56, wherein said features are imageable markers made is contact with the body.

58. The method of claim 57, wherein said markers are distinguishable from one another.

59. The system of claim 52, wherein said first mechanism is synchronized with physiological activity of the body.

60. The system of claim 52, wherein said at least one catheter includes a probing catheter.

61. The system of claim 52, wherein said at least one catheter having an ablation ability.

62. The system of claim 52, wherein said at least one catheter includes a sensor for sensing local information within the body.

63. The system of claim 52, wherein said at least one catheter includes a plurality of electrodes for simultaneously collecting local electric information from inner walls of a heart cavity.

64. The system of claim 52, wherein said at least one catheter includes a strain gauge.

65. The system of claim 52, wherein said at least one catheter includes a plurality of first location implements along at least a part of its length, each of said plurality of first location implements is locationable via said locating implement.

66. The system of claim 52, wherein said first location implement and said locating implement form a locating system selected from the group consisting of electromagnetic locating system, magnetic locating system and acoustic locating system.

67. The system of claim 52, wherein said imaging instrument is a real-time imaging instrument.

68. The system of claim 67, wherein said real-time imaging instrument is selected from the group consisting of ultrasound, fluoroscope and electrophysiology imaging.

69. The system of claim 52, wherein said imaging instrument is a non-real-time imaging instrument.

70. The system of claim 52, wherein said imaging instrument provides a primary image of said portion of the body.

71. The system of claim 52, wherein said imaging instrument provides a secondary image of said portion of the body.

72. The system of claim 52, wherein said imaging instrument is an electro physiological imaging system.

73. The system of claim 52, wherein said imaging instrument is designed to provide an image which corresponds to a vitality map of a tissue.

74. The system of claim 52, wherein said imaging instrument is adapted for simultaneously generating at least two images each of a different plane.

75. The system of claim 70, wherein said non-real-time imaging instrument is selected from the group consisting of computer aided tomography (CT), magnetic resonance imaging (MRI), proton emission tomography (PET) and three dimensional ultrasound.

76. The system of claim 52, wherein said second mechanism is effected by attaching a second location implement onto said imaging instrument and establishing the location of said imaging instrument via said locating implement.

77. The system of claim 76, wherein said second location implement and said locating implement form a locating system selected from the group consisting of electromagnetic locating system, magnetic locating system, acoustic locating system, and stereopair optical system.

78. The system of claim 52, wherein said second mechanism is effected by image processing of features in said image and by location information regarding said features.

79. The system of claim 78, wherein said features are imagenable markers made is contact with the body.

80. The system of claim 78, wherein said features are imageable markers on said at least one catheter.

81. The system of claim 52, wherein said second mechanism is effected by image processing of features in said image and by magnification information regarding said features.

82. The system of claim 52, wherein said second mechanism is effected by a positioning implement inherent to said imaging instrument.

83. The system of claim 52, wherein said plurality of points-of-interest are within a heart in said body.

84. The system of claim 52, wherein said at least one catheter has treatment ability, whereas said plurality of points-of-interest include at least one point treated by said at least one catheter.

85. The system of claim 84, wherein said treatment is ablation.

86. The system of claim 84, wherein said plurality of points-of-interest include at least one point located at a displacement relative to said at least one point treated by said at least one catheter.

87. The system of claim 84, wherein said at least one point-of-interest is at least one point located at a displacement relative to said at least one point treated by said at least one catheter.

88. The system of claim 52, wherein said at least one catheter includes a sensor for sensing local information within the body, whereas said plurality of points-of-interest are established in accordance with said local information.

89. The system of claim 52, wherein said portion of the body is a cavity within the body.

90. The system of claim 52, wherein said portion of the body is selected from the group consisting of heart, lung, kidney, bladder, brain, colon and blood vessels.

91. The system of claim 52, wherein at least one of said locations is determined in at least three degrees of freedom.

92. The system of claim 52, wherein at least one of said locations is determined in at least four degrees of freedom.

93. The system of claim 52, wherein at least one of said locations is determined in at least five degrees of freedom.

94. The system of claim 52, wherein at least one of said locations is determined in at least six degrees of freedom.

95. The system of claim 52, wherein said plurality of points-of-interest are highlighted in a distinctive fashion indicative of its nature or properties.

96. The system of claim 52, further comprising:

(f) at least one additional imaging instrument for imaging said portion of the body; and

(g) a third mechanism for establishing a location of said at least one additional imaging instrument, so as to enable displaying and highlighting said plurality of points-of-interest in context of at least one additional image of said portion of the body, said at least one additional image being generated by said at least one additional imaging instrument;

such that, in course of said procedure, said location of said body, said at least one catheter and said at least one additional imaging instrument are known, thereby said plurality of points-of-interest are projectable and displayable in context of said at least one additional image even in cases whereby a relative location of said body and said at least one additional imaging instrument are changed.

97. The system of claim 52, wherein displaying and highlighting said plurality of points-of-interest is effected in a context of at least two images of said portion of the body, said at least two images being generated by said imaging instrument, each is of a different plane of the portion of the body.

98. The system of claim 97, wherein said at least two images are displayed simultaneously.

99. The system of claim 97, wherein said at least two images are of at least two orthogonal planes.

100. The system of claim 52, further comprising a memory module for receiving and storing in memory said image data.

101. The system of claim 52, further comprising a memory module for receiving and storing in memory said image data and said plurality of points-of-interest data.

102. The system of claim 52, further comprising a memory module for receiving and storing in memory said plurality of points-of-interest data.

103. The system of claim 52, wherein said locating implement is connected to said imaging instrument.

104. A method of recording and displaying in context of an image a location of at least one point-of-interest in a body during an intra-body medical procedure, the method comprising the steps of:

(a) establishing a location of the body by ensuring that said body is fixed at a known location during the procedure;

(b) inserting at least one catheter into a portion of the body, said at least one catheter including a first location implement;

(c) using an imaging instrument for imaging said portion of the body;

(d) establishing a location of said imaging instrument;

(e) advancing said at least one catheter to at least one point-of-interest in said portion of the body and via a locating implement recording a location of said at least one point-of-interest; and

(f) displaying and highlighting said at least one point-of-interest in context of an image of said portion of the body, said image being generated by said imaging instrument;

such that, in course of said procedure, said location of said body, said at least one catheter and said imaging instrument are known, thereby said at least one point-of-interest is projectable and displayable in context of said image even in cases whereby a relative location of said body and said imaging instrument are changed.

105. The method of claim 104, wherein said locating implement forms part of a locating system selected from the group consisting of electromagnetic locating system, magnetic locating system and acoustic locating system.

106. The method of claim 104, wherein said at least one catheter includes a probing catheter.

107. The method of claim 104, wherein said at least one catheter has an ablation ability.

108. The method of claim 104, wherein said at least one catheter includes a sensor for sensing local information within the body.

109. The method of claim 104, wherein said at least one catheter includes a plurality of electrodes for simultaneously collecting local electric information from inner walls of a heart cavity.

110. The method of claim 104, wherein said at least one catheter includes a strain gauge.

111. The method of claim 104, wherein said at least one catheter includes a plurality of first location implements along at least a part of its length, each of said plurality of first location implements is locationable via said locating implement.

112. The method of claim 104, wherein said first location implement and said locating implement form a locating system selected from the group consisting of electromagnetic locating system, magnetic locating system and acoustic locating system.

113. The method of claim 104, wherein said imaging instrument is a real-time imaging instrument.

114. The method of claim 113, wherein said real-time imaging instrument is selected from the group consisting of ultrasound, fluoroscope and electrophysiology imaging.

115. The method of claim 104, wherein said imaging instrument is a non-real-time imaging instrument.

116. The method of claim 115, wherein said non-real-time imaging instrument is selected from the group consisting of computer aided tomography (CT), magnetic resonance imaging (MRI), proton emission tomography (PET) and three dimensional ultrasound.

117. The method of claim 104, wherein said imaging instrument provides a primary image of said portion of the body.

118. The method of claim 104, wherein said imaging instrument provides a secondary image of said portion of the body.

119. The method of claim 104, wherein said imaging instrument is an electro physiological imaging system.

120. The method of claim 104, wherein said imaging instrument is designed to provide an image which corresponds to a vitality map of a tissue.

121. The method of claim 104, wherein said imaging instrument is adapted for simultaneously generating at least two images each of a different plane.

122. The method of claim 104, wherein establishing said location of said imaging instrument is effected by attaching a second location implement onto said imaging instrument and establishing the location of said imaging instrument via said locating implement.

123. The method of claim 122, wherein said second location implement and said locating implement form a locating system selected from the group consisting of electromagnetic locating system, magnetic locating system, acoustic locating system, and stereopair optical system.

124. The method of claim 104, wherein establishing said location of said imaging instrument is effected by image processing of features in said image and by location information regarding said features.

125. The method of claim 104, wherein establishing said location of said imaging instrument is effected by image processing of features in said image and by magnification information regarding said features.

126. The method of claim 125, wherein said features are imageable markers made in contact with the body.

127. The method of claim 125, wherein said features are imageable markers on said at least one catheter.

128. The method of claim 104, wherein establishing said location of said imaging instrument is effected by a positioning implement inherent to said imaging instrument.

129. The method of claim 104, wherein said at least one point-of-interest is within a heart in said body.

130. The method of claim 104, wherein said at least one catheter has treatment ability, whereas said at least one point-of-interest is at least one point treated by said at least one catheter.

131. The method of claim 130, wherein said treatment is ablation.

132. The method of claim 130, wherein said at least one point-of-interest is at least one point located at a displacement relative to said at least one point treated by said at least one catheter.

133. The method of claim 104, wherein said at least one catheter includes a sensor for sensing local information within the body, whereas said at least one point-of-interest is established in accordance with said local information.

134. The method of claim 104, wherein said portion of the body is a cavity within the body.

135. The method of claim 104, wherein said portion of the body is selected from the group consisting of heart, lung, kidney, bladder, brain, colon and blood vessels.

136. The method of claim 104, wherein at least one of said locations is determined in at least three degrees of freedom.

137. The method of claim 104, wherein at least one of said locations is determined in at least four degrees of freedom.

138. The method of claim 104, wherein at least one of said locations is determined in at least five degrees of freedom.

139. The method of claim 104, wherein at least one of said locations is determined in at least six degrees of freedom.

140. The method of claim 104, wherein said at least one point-of-interest is highlighted in a distinctive fashion indicative of its nature or properties.

141. The method of claim 104, wherein said at least one point-of-interest includes a plurality of points-of-interest all having a common nature or property and are highlighted by a line connecting thereamongst.

142. The method of claim 104, further comprising the steps of:

(f) using at least one additional imaging instrument for imaging said portion of the body;

(g) establishing a location of said at least one additional imaging instrument;

(h) displaying and highlighting said at least one point-of-interest in context of at least one additional image of said portion of the body, said at least one additional image being generated by said at least one additional imaging instrument;

such that, in course of said procedure, said location of said body, said at least one catheter and said at least one additional imaging instrument are known, thereby said at least one point-of-interest is projectable and displayable in context of said at least one additional image even in cases whereby a relative location of said body and said at least one additional imaging instrument are changed.

143. The method of claim 104, wherein displaying and highlighting said at least one point-of-interest is effected in a context of at least two images of said portion of the body, said at least two images being generated by said imaging instrument, each is of a different plane of the portion of the body.

144. The method of claim 143, wherein said at least two images are displayed simultaneously.

145. The method of claim 143, wherein said at least two images are of at least two orthogonal planes.

146. The method of claim 104, further comprising the step of receiving and storing in memory said image data.

147. The method of claim 104, further comprising the step of receiving and storing in memory said image data and said at least one point-of-interest data.

148. The method of claim 104, further comprising the step of receiving and storing in memory said at least one point-of-interest data.

149. The method of claim 104, wherein said locating implement is connected to said imaging instrument.

150. A system of recording and displaying in context of an image a location of at least one point-of-interest in a body during an intra-body medical procedure, the system comprising:

(a) a first mechanism for establishing a location of said body by ensuring that said body is fixed at a known location during the procedure;

(b) at least one catheter insertable into a portion of the body, said at least one catheter being supplemented with a first location implement;

(c) an imaging instrument for imaging said portion of the body;

(d) a locating implement for locating said first location implement and for establishing a location of said at least one catheter; and

(e) a second mechanism for establishing a location of said imaging instrument;

such that, by inserting said at least one catheter into said portion of the body;

using said imaging instrument for imaging said portion of the body;

establishing a location of said imaging instrument;

advancing said at least one catheter to at least one point-of-interest;

in said portion of the body and recording a location of said at least one point-of-interest;

so that in course of said procedure, said location of said body, said at least one catheter and said imaging instrument are known, said at least one point-of-interest is projectable and displayable in a highlighted fashion in context of an image of said portion of the body generated by said imaging instrument even in cases where a relative location of said body and said imaging instrument are changed.

151. The system of claim 150, wherein said locating implement forms part of a locating system selected from the group consisting of electromagnetic locating system, magnetic locating system, and acoustic locating system.

152. The system of claim 150, wherein said at least one catheter includes a probing catheter.

153. The system of claim 150, wherein said at least one catheter has an ablation ability.

154. The system of claim 150, wherein said at least one catheter includes a sensor for sensing local information within the body.

155. The system of claim 150, wherein said at least one catheter includes a plurality of electrodes for simultaneously collecting local electric information from inner walls of a heart cavity.

156. The system of claim 150, wherein said at least one catheter includes a strain gauge.

157. The system of claim 150, wherein said at least one catheter includes a plurality of first location implements along at least a part of its length, each of said plurality of first location implements is locationable via said locating implement.

158. The system of claim 150, wherein said first location implement and said locating implement form a locating system selected from the group consisting of electromagnetic locating system, magnetic locating system and acoustic locating system.

159. The system of claim 150, wherein said imaging instrument is a real-time imaging instrument.

160. The system of claim 159, wherein said real-time imaging instrument is selected from the group consisting of ultrasound, fluoroscope and electrophysiology imaging.

161. The system of claim 150, wherein said imaging instrument is a non-real-time imaging instrument.

162. The system of claim 151, wherein said non-real-time imaging instrument is selected from the group consisting of computer aided tomography (CT), magnetic resonance imaging (MRI), proton emission tomography (PET) and three dimensional ultrasound.

163. The system of claim 150, wherein said imaging instrument provides a primary image of said portion of the body.

164. The system of claim 150, wherein said imaging instrument provides a secondary image of said portion of the body.

165. The system of claim 150, wherein said imaging instrument is an electro physiological imaging system.

166. The system of claim 150, wherein said imaging instrument is designed to provide an image which corresponds to a vitality map of a tissue.

167. The system of claim 150, wherein said imaging instrument is adapted for simultaneously generating at least two images each of a different plane.

168. The system of claim 150, wherein said second mechanism is effected by attaching a second location implement onto said imaging instrument and establishing the location of said imaging instrument via said locating implement.

169. The system of claim 168, wherein said second location implement and said locating implement form a locating system selected from the group consisting of electromagnetic locating system, magnetic locating system, acoustic locating system, and stereopair optical system.

170. The system of claim 150, wherein said second mechanism is effected by image processing of features in said image and by location information regarding said features.

171. The system of claim 150, wherein said second mechanism is effected by image processing of features in said image and by magnification information regarding said features.

172. The system of claim 171, wherein said features are imageable markers made is contact with the body.

173. The system of claim 171, wherein said features are imageable markers on said at least one catheter.

174. The system of claim 150, wherein said second mechanism is effected by a positioning implement inherent to said imaging instrument.

175. The system of claim 150, wherein said at least one point-of-interest is within a heart in said body.

176. The system of claim 150, wherein said at least one catheter has treatment ability, whereas said at least one point-of-interest is at least one point treated by said at least one catheter.

177. The system of claim 176, wherein said treatment is ablation.

178. The system of claim 150, wherein said at least one catheter includes a sensor for sensing local information within the body, whereas said at least one point-of-interest is established in accordance with said local information.

179. The system of claim 150, wherein said portion of the body is a cavity within the body.

180. The system of claim 150, wherein said portion of the body is selected from the group consisting of heart, lung, kidney, bladder, brain, colon and blood vessels.

181. The system of claim 150, wherein at least one of said locations is determined in at least three degrees of freedom.

182. The system of claim 150, wherein at least one of said locations is determined in at least four degrees of freedom.

183. The system of claim 150, wherein at least one of said locations is determined in at least five degrees of freedom.

184. The system of claim 150, wherein at least one of said locations is determined in at least six degrees of freedom.

185. The system of claim 150, wherein said at least one point-of-interest is highlighted in a distinctive fashion indicative of its nature or properties.

186. The system of claim 150, wherein said at least one point-of-interest includes a plurality of points-of-interest all having a common nature or property and are highlighted by a line connecting thereamongst.

187. The system of claim 151 , further comprising:

(f) at least one additional imaging instrument for imaging said portion of the body; and

(g) a third mechanism for establishing a location of said at least one additional imaging instrument, so as to enable displaying and highlighting said at least one point-of-interest in context of at least one additional image of said portion of the body, said at least one additional image being generated by said at least one additional imaging instrument;

such that, in course of said procedure, said location of said body, said at least one catheter and said at least one additional imaging instrument are known, thereby said at least one point-of-interest is projectable and displayable in context of said at least one additional image even in cases whereby a relative location of said body and said at least one additional imaging instrument are changed.

188. The system of claim 150, wherein displaying and highlighting said at least one point-of-interest is effected in a context of at least two images of said portion of the body, said at least two images being generated by said imaging instrument, each is of a different plane of the portion of the body.

189. The system of claim 188, wherein said at least two images are displayed simultaneously.

190. The system of claim 188, wherein said at least two images are of at least two orthogonal planes.

191. The system of claim 150, further comprising a memory module for receiving and storing in memory said image data.

192. The system of claim 150, further comprising a memory module for receiving and storing in memory said image data and said at least one point-of-interest data.

193. The system of claim 150, further comprising a memory module for receiving and storing in memory said at least one point-of-interest data.

194. The system of claim 150, wherein said locating implement is connected to said imaging instrument.