PURPOSE: A position tracking method of a micro robot for blood vessel treatment through a computed tomography three-dimensional model matching process with an X-ray image is provided to utilize a multi-medical image marker, thereby extracting a virtual X-ray image.CONSTITUTION: A matching system comprises a display part which displays an ultrasonic image, a CT(Computed Tomography) image, and an ultrasonic-CT matched image. The ultrasonic image, CT image before matching with a non-rigid body image, and ultrasonic-CT matched image are displayed for each slide. A marker which is respectively marked in the CT image before matching and ultrasonic image is exactly matched in all slide images including a diaphragm image and blood vessel region. An X-ray image and the CT image before matching are prepared. The X-ray image and the CT image before matching are integrated. The X-ray image detecting the location of a micro robot is created.COPYRIGHT KIPO 2012본 발명은 다중 의료용 영상 표식을 활용하여 가상 엑스레이 이미지를 추출하는 방법에 있어서, CT 이미지를 준비하는 단계 Fiducial Mark 활용하여 위치를 맞추는 단계 그리고, 가상 X-ray 이미지를 생성하는 단계:를 포함하는 것을 특징으로 하는 다중 의료용 영상 표식을 활용하여 가상 엑스레이 이미지를 추출하는 방법에 관한 것이다.
