1. A system for non-invasive registration between a patient and a three-dimensional (3D) medical image, the system comprising: a near infrared 3D camera configured to extract a 3D blood vessel image of a patient's registration target area; a camera position tracer configured to trace a position of the near infrared 3D camera and to calculate a real world coordinate system of the 3D blood vessel image; a controller comprising: a 3D medical image database configured to store a 3D medical image obtained by taking the registration target area; a blood vessel model generator configured to reconstitute a blood vessel model by separating a blood vessel image from the 3D medical image; a first feature point extractor configured to extract a branch point from which a blood vessel is branched by detecting a skeleton line of the blood vessel model, and to select each extracted branch point as a feature point of a first blood vessel pattern; a 3D blood vessel image detector configured to extract a 3D blood vessel image by separating a blood vessel image from a near infrared 3D image taken by the near infrared 3D camera, and a second feature point extractor configured to extract a branch point of a patient's blood vessel through the extracted 3D blood vessel image and a real world coordinate system of the 3D blood vessel image measured by the camera position tracer, and to select each extracted branch point as a feature point of a second blood vessel pattern; and a registrator configured to determine a registration result by optimally matching a first feature point group comprising of a plurality of first feature points, and a second feature point group comprising of a plurality of second feature points; and a display configured to display the registration result.