The present invention provides a kind of method, and it includes：Apparatus is introduced to the body cavity of subject；Obtain the first image from the first imaging pattern；At least one element is recognized on the first image from the first imaging pattern；Obtain the second image from the second imaging pattern；From the compatible virtual image of the first image generation from the first imaging pattern；Data are intended to be mapped on the virtual image of compatibility；By the second image rough registration from the second imaging pattern on the first image of the first imaging pattern；At least one element of the planning data of mapping is recognized from compatible virtual image；Corresponding element is recognized on the second imaging pattern；Corresponding element is mapped on the second imaging pattern；By the second image precise registration from the second imaging pattern to the first image from the first imaging pattern；Generate the 3rd image.
