Patent Document ID: 8204576
Application ID: 12132973
Patent Status: 1

Claim One:
1. A medical guiding system comprising: a detection portion configured to detect at least one of a position and an orientation of a medical instrument and at least one of positions and orientations of a plurality of feature points of a subject in a real space; a storage portion configured to store reference image data having anatomical positional information on at least one organ of a human body; and a guide image creation portion configured: to define a mapping for converting at least one of the position and the orientation of the medical instrument in the real space into at least one of a position and an orientation in the reference image data based on information on: at least one of positions and orientations of the plurality of feature points of the subject in the real space, and at least one of positions and orientations of a plurality of reference image feature points which correspond to the plurality of feature points in the reference image data, and to create a guide image indicating a position of the medical instrument or an observation position by the medical instrument based on the mapping and the reference image data, to correct the position of the medical instrument or the observation position by the medical instrument which the guide image indicates, based on information on: at least one of positions and orientations of a plurality of in-vivo feature points in a body of the subject in the real space, and at least one of positions and orientations of one or more correction feature points which anatomically correspond to the in-vivo feature points in the reference image data, and to change anatomical positions of the in-vivo feature points to be used in the correction depending on an anatomical region for which the medical instrument is used.