The present invention relates to a medical
system comprising a medical instrument to be guided in a patient body,
ultrasound acquisition means using an
ultrasound probe for acquiring a 3D
ultrasound data set and X-
ray acquisition means for acquiring a 2D X-
Ray image, which comprises a projection of said medical instrument. The
system in accordance with the invention further comprises means for localizing said
ultrasound probe within a referential of said X-
Ray acquisition means, means for providing a first localization of said medical instrument within a referential of the ultrasound acquisition means, means for converting said first ultrasound localization into a first X-
Ray localization within the referential of said X-Ray acquisition means, means for providing a second X-Ray localization of the projection of said medical instrument in the two-dimensional X-
ray image, means for mapping said 3D ultrasound
data set with said 2D X-
ray image in accordance with a transformation, which minimizes a distance between a projection of said first X-Ray localization on said 2D X-Ray image and said second X-Ray localization and means for generating and displaying a bi-
modal representation of said medical instrument, in which said 2D X-ray image and said mapped 3D ultrasound data are combined.