This invention discloses a method and apparatus to deliver medical devices to targeted locations within human tissues using imaging data. The image converting unit acquires frame image groups each including one or more frame images from original image data, and outputs the frame image of each acquired group, converting itstheir image quality based on determination by the determining unit, generating foreign-device-use image data including the frame image groups including the frame image. The wideband radio signals utilized herein are particularly suited to ranging in harsh RF environments because they allow signal reconstruction in spite of multipath propagation distortion.