Patent ID: 8155728

Claim:
A storage medium containing a program readable by a digital computer which instructs the digital computer: a) to receive an indication from a user of a medical target selected for a medical procedure which uses at least a catheter and which is to be performed within a patient, wherein the catheter has a catheter distal end configured to be inserted into a natural orifice of a body lumen of the patient, and wherein a sensor is disposed proximate the catheter distal end and is adapted to provide position data; b) to receive an indication from the user when the catheter distal end is at each of a plurality of predetermined physiological landmarks spaced apart along and within the body lumen, and to calculate a position of the sensor indexed to the patient by calculating a position of the sensor indexed to a reference coordinate system and by indexing the reference coordinate system to the patient using at least the position data and the indications from the user when the catheter distal end was at each of the plurality of predetermined physiological landmarks; c) to create a first image representation of the patient indexed to the patient and from a viewpoint of the catheter distal end, through light-obtained image data obtained proximate the catheter distal end, using at least the light-obtained image data and the calculated position of the sensor indexed to the patient, and to display on one of at least-one display monitor a first image of the first image representation; d) to indicate to the user position information of the catheter distal end relative to the medical target using at least 3-D image data which is of the patient and is pre-acquired, the position data, and the indications from the user when the catheter distal end was at each of the plurality of the predetermined physiological landmarks; and e) to create a second image representation of the patient indexed to the patient from a viewpoint of the catheter distal end, using at least the 3-D image data, the indications from the user when the catheter distal end was at each of the plurality of predetermined physiological landmarks, and the calculated position of the sensor indexed to the patient, with the second image representation visually corresponding to the first image representation, and to display on one of the at least-one display monitor a second image of the second image representation.