Registration of 3D trans-esophageal echocardiography to X-ray fluoroscopy using image-based probe tracking

► We have developed a robust, efficient and clinically feasible method for 3D TEE and X-ray fluoroscopy registration. ► The performance of our method was examined thoroughly using a realistic heart phantom and five clinical datasets. ► Our method has demonstrated a considerable impact in the field of image-guided cardiac interventions.