SURGICAL DEVICES AND METHODS OF USE THEREOF

The present invention provides a method, including: introducing an instrument into a cavity of a subject; obtaining a first image from a first imaging modality; identifying on the first image from the first imaging modality at least one element, obtaining a second image from a second imaging modality; generating a compatible virtual image from the first image from the first imaging modality; mapping planning data on the compatible virtual image; coarse registering of the second image from the second imaging modality to the first image from the first imaging modality; identifying at least one element of the mapped planning data from the compatible virtual image; identifying a corresponding element on the second imaging modality; mapping the corresponding element on the second imaging modality; fine registering of the second image from the second imaging modality to the first image from the first imaging modality; generating a third image. Fig 1 WO 2016/067092 PCT/IB2015/002148 - - - - , ;. - -... , , ... ",...: - . - s - . " -, ... ,.,.,.,..,.".." " ,."","', .'... ... ..",..."",.."."...""."., , , -- ..,. .'... ... ,...,...,..""."..,..""..."".. , , ,, , I ... :::.. : .. " ::: ... - *!: I .'" ; ** **:.* ... * *** ** * * * ** * ** * * *** *** ***' * ** -i -.. i*i i.*** ... Z:::. j::.g .. .. k..., - : :. .-W , iiii i:i ii i:i:iiiiiiiii i * *,.,* " .. - -- ... * ... ***" ***'*'***'**'* ... : i i : i ' : i:, ... -... **" *'***,*,*,***" **'*" **,* ... :,:0 ... : ::