Navigation for interventions: incremental real time recording of tracked instruments

The invention describes a method for navigation during medical operations on tubular organ structures. Before the intervention static image data of the tubular organ structures have to be recorded and stored. The images of the tubular organ structures are extracted from the image data and the course thereof is converted into a geometric description used during the medical operation for instrument/organ recording. The instrument that is spatially localized by a tracking system is succes-sively corrected in relation to the static data, by a transformation that is preferably defined by an optimization method, taking into account the geometrical description and information on the current distance covered by the instrument, or vice versa, the static data is successively corrected in relation to the instrument position, and thus the position of the instrument is associated with the anatomic structures in the static image data.

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