A medical imaging method for the navigation of a guidable medical instrument intended to be moved inside the body of a patient, comprising: receiving at least one 2D image of a cavity of a patient, acquired by an acquisition device, for which cavity a 3D representation is available receiving at least one data item on the force applied to the medical instrument to control a guiding of the medical instrument inside the patients body and combining data derived from information on applied force, the 2D image and the 3D representation to determine the position of the medical instrument.
