Method for determining the position of a medical instrument in a body

摘要

The medical instrument such as endoscope is inserted into the vascular system of patient (5) so as to form a path partially inside the vascular system. The position of the instrument head is calculated from structural data of vascular system, length data and the relative position between a reference point and the vascular system. The instrument is guided towards the reference point, using the length data representing the length of the path between the reference point and the instrument head. Independent claims are included for the following: (1) storage medium storing program for ascertaining position of head of medical instrument in vascular system; (2) device for ascertaining position of head of medical instrument in vascular system; and (3) operation system.