A system for assisting guiding an endovascular instrument in vascular structures of an anatomical region of interest of a patient. This system includes an imaging device for capturing three-dimensional images of parts of the body of a patient, a programmable device and a viewing unit. The imaging device captures partially superposed fluoroscopic images of the region, and the programmable device forms a first augmented image, representative of a complete panorama of bones of the region, and cooperates with the imaging device to obtain a second augmented image including a representation of the vascular structures of the region. The imaging device captures a current fluoroscopic image of a part of the region, and the programmable device registers the current fluoroscopic image with respect to the first augmented image and locates and displays, on the viewing unit, an image region corresponding to the current fluoroscopic image in the second augmented image.
