Patent ID: 8108029

Claim:
A method for navigating a medical instrument, the method comprising: introducing at least three reference devices so as to be freely disposed to at least three reference locations including high right atrium, HIS bundle, and coronary sinus; employing an imaging and guidance system to conduct said introducing and acquire a plurality of image projections corresponding to a desired anatomy including said at least three reference devices disposed to said at least three reference locations; generating a three-dimensional modeling or reconstruction images from the plurality of image projections, the three-dimensional modeling or reconstruction images corresponding to said at least three reference devices disposed to said at least three reference locations; measuring a three-dimensional position for each of said at least three reference devices disposed to said at least three reference locations with a position measurement system; formulating a first transformation matrix based on comparing three-dimensional positions of said at least three reference devices disposed to said at least three reference locations computed from said modeling or reconstruction images with said three-dimensional positions of said at least three reference devices disposed to said at least three reference locations from said position measurement system; superimposing an image of the medical instrument in at least one of said plurality of image projections based on said transformation matrix and a position of the medical instrument measured with said position measurement system; measuring another three-dimensional position of each of said at least three reference devices disposed to said at least three reference locations with the position measurement system; formulating a second transformation matrix based on comparing three-dimensional positions of said at least three reference devices disposed to said at least three reference locations computed from said modeling or reconstruction images with said another three dimensional position of each of said at least three reference devices disposed to said at least three reference locations from said position measurement system; and superimposing an image of the medical instrument in at least one of said plurality of image projections based on said second transformation matrix and said position measured with said position measurement system, thereby compensating said image for motion based on said three-dimensional positions of said at least three reference devices disposed to said at least three reference locations.