Patent ID: 8320992

Claim:
A system for video based registration between images during a skeletal medical procedure, said system comprising: a stereoscopic camera, associated with a stereoscopic coordinate system, for acquiring a stereoscopic image pair of a fiducial mark said fiducial mark being fixed onto a skeletal structure, a first fiducial representation of said fiducial mark being apparent on said stereoscopic image pair; a two dimensional (2D) image detector, associated with a 2D coordinate system, for acquiring at least two substantially different images of said skeletal structure, a second fiducial representation of said fiducial mark and a first skeletal representation of said skeletal structure being apparent on said two substantially different 2D images; and a registration processor, coupled with said stereoscopic camera and with said 2D image detector, registering said stereoscopic coordinate system with a three dimensional (3D) coordinate system associated with a volumetric image detector, and for superimposing 3D information on at least one volumetric image, acquired by said volumetric image detector, according to said registration, said at least one volumetric image being devoid of said fiducial mark, said registration processor registering said stereoscopic coordinate system with said 3D coordinate system by registering said stereoscopic coordinate system with said 2D coordinate system using said first fiducial representation apparent in said stereoscopic image pair, and said second fiducial representation apparent in said two substantially different 2D images, and by registering said 2D coordinate system with said 3D coordinate system using said first skeletal representation apparent in said two substantially different 2D images, and said second skeletal representation apparent in said at least one volumetric image; and a display displaying a registered image stereoscopically, said registered image comprising said stereoscopic image pair in said stereoscopic coordinate system and said volumetric image in said 3D coordinate system.