The endoscope and endoscope control device (22) of figure registration system (12). In operation, endoscopic images (12) generate the invisible endoscopic images during surgery (14) including visible endoscopic images during surgery (14) the instruction bifurcated vessels tree of multiple branch vessel trees within the anatomic region of (14) vascular tree in endoscopic surgery. Vascular tree of the tree of effective endoscopic image and container (14) to 3 preoperative dimension (44) images in the operation of endoscope controller (22) image register. Image registration includes the branch of the figured bifurcated vessels tree of images match, such as passes through the vascular tree of the visual vascular tree interior visible preoperative 3 d image (44) of a figured bifurcated vessels tree of endoscopic images (14) vascular tree during surgery.
