Patent ID: 7386339

Claim:
Medical imaging and navigation system comprising: a processor, connected to a display unit and to a database; a medical positioning system (MPS), connected to said processor, including a transducer MPS sensor and a surgical tool MPS sensor, said surgical tool MPS sensor being firmly attached to a surgical tool; a two-dimensional imaging system, connected to said processor, including an imaging transducer, said transducer MPS sensor being firmly attached to said imaging transducer; an inspected organ monitor interface, connected to said processor and to an organ monitor, said organ monitor monitoring an organ timing signal associated with an inspected organ; a superimposing processor, connected to said processor; wherein said processor receives: a plurality of two-dimensional images from said two-dimensional imaging system, acquired by said imaging transducer; the location and orientation of said imaging transducer from said medical positioning system, as detected by said transducer MPS sensor in a coordinate system, for each said two-dimensional images; said organ timing signal from said inspected organ monitor interface, as detected by said organ monitor, for each said two-dimensional images; and the location and orientation of said surgical tool, from said medical positioning system, as detected by said surgical tool MPS sensor in the coordinate system of the transducer MPS sensor; so that said location and orientation of said surgical tool and said location and orientation of said imaging transducer, are acquired in a single coordinate system, thereby eliminating computations for correlating said location and orientation of said transducer MPS sensor and said location and orientation of said surgical MPS sensor; and wherein for each said two-dimensional images, said processor stores said two-dimensional image in said database together with said location and orientation information of said imaging transducer, respective of said two-dimensional image and said organ timing signal, respective of said two-dimensional image, wherein said processor selects at least one of said stored two-dimensional images, having a stored organ timing signal substantially equal to a real time detected organ timing signal, wherein said superimposing processor superimposes a representation of said surgical tool on a visual representation of said selected two-dimensional images, and wherein said display presents the result of said superimposing.