#$%^&*AU2016200549A120160901.pdf#####ABSTRACT Cardiac catheterization is carried out by introducing a catheter into the cor5 onary sinus, acquiring a first set of 2-dimensional images of the catheter, thereafter acquiring a second set of 2-dimensional images of the catheter, and creating respective 2-dimensional models of the catheter in synchronized frames of the first set and the second set. The 2-dimensional models include respective tracked 2dimensional paths of the catheter. The first and second sets are synchronized by tO identifying frames that are in respective phases of the cardiorespiratory cycle. First and second 3-dimensional models of the catheter are constructed from the synchronized frames, and geometrically transformed to minimize a distance function between the two models.117 Nr '4 ' D (9)AC LO LoQ ...... A
