Patent ID: 8165839

Claim:
A method for calibrating an instrument location apparatus with an imaging apparatus, comprising: temporally synchronizing the instrument location apparatus with the imaging apparatus by a control unit; moving a medical instrument relative to a tracking coordinate system of the instrument location apparatus and relative to an image coordinate system of the imaging apparatus; simultaneously measuring a position of the medical instrument both by the instrument location apparatus and by the imaging apparatus; and parameterizing a transformation rule stored in a registration module for mapping the tracking coordinate system onto the image coordinate system based on the measured position, wherein the transformation rule is performed by the control unit using a matrix equation of P PCS =M p ·T·P TCS , wherein: P PCS is an image point corresponding to the position of the medical instrument in coordinate of the image coordinate system, P TCS is the image point corresponding to the position of the medical instrument in coordinate of the tracking coordinate system, T is a transformation matrix mapping the tracking coordinate system onto a spatial coordinate system of the imaging apparatus, and M p is a projection matrix mapping the spatial coordinate system of the imaging apparatus onto the image coordinate system as a function of a location of an image axis of the imaging apparatus.