Cardiac catheterization is carried out by introducing a catheter into thecoronary sinus, acquiring a first set of 2-dimensional images of the catheter,thereafter acquiring a second set of 2-dimensional images of the catheter, andcreating respective 2-dimensional models of the catheter in synchronizedframes of the first set and the second set. The 2-dimensional models includerespectivetracked 2-dimensional paths of the catheter. The first and second setsare synchronized by identifying frames that are in respective phases of thecardiorespiratorycycle. First and second 3-dimensional models of the catheter areconstructed from the synchronized frames, and geometrically transformed tominimize a distance function between the two models.
