US Patent 8000890 Image-guided navigation employing navigated point computation method and system

Provided is a method of image-guided navigation comprising determining a final navigated point in a three-dimensional reconstructed coordinate system based at least partially on two or more navigated points in a coordinate system associated with a two-dimensional array of image pixels and without specifying a coordinate of each of the two or more navigated points in a direction orthogonal to the two-dimensional array of image pixels, wherein each of the two or more navigated points is for a different position of a C-arm gantry. Also provided is an image-guided navigation system.