A medical guiding system of the invention includes: a detection portion for detecting a position and an orientation of a medical instrument and positions of feature points of a subject a storage portion for storing reference image data having positional information on an organ of a human body and a guide image creation portion for creating a guide image indicating the position of the medical instrument with respect to the subject from the reference image data. The guide image creation portion calculates the position of the medical instrument with respect to the subject, based on the position and the orientation of the medical instrument and the positions of feature points of the subject which are detected by the detection portion, and creates a guide image by correcting the calculated position of the medical instrument, using the positions of the feature points.
