Registration method for displaying electromagnetically tracked devices in fluoroscopic images

Visualization of electromagnetically tracked instruments in pre- or intra-interventional fluoroscopic images requires a registration process between the coordinate systems of both modalities. We present in this paper a new approach for performing this procedure by using only two external fiducial markers with integrated electromagnetic sensors which are applied on the patient´s skin. Combined with the information acquired by the fluoroscopic system we achieve an automated and fast registration.