for anyone coming here, I wanted to add, that ISTQB & ISO/IEC/IEEE 29119 actually do have a definition for both of them and in case you go with this definition the distinction is very clear and also why you need both:
test procedure
sequence of test cases in execution order, associated actions to set
up the initial preconditions, and wrap-up activities post execution
Source: ISO/IEC/IEEE 29119-1:2013 Software and systems engineering--Software
testing--Part 1: Concepts and definitions, 4.78 - via https://pascal.computer.org/sev_display/index.action
test case
set of test case preconditions, inputs (including actions, where
applicable), and expected results, developed to drive the execution of
a test item to meet test objectives, including correct implementation,
error identification, checking quality, and other valued information
Source: ISO/IEC/IEEE 29119-1:2013 Software and systems engineering--Software
testing--Part 1: Concepts and definitions, 4.48 - via https://pascal.computer.org/sev_display/index.action
Very similar definitions are used by ISTQB.
The book mentioned in the question Systematic Software Testing is based on the standard IEEE 829, which was superseded by the above mentioned standard ISO/IEC/IEEE 29119. It shows the relationship of a test procedure consisting of many test cases in a great graphic on page 197 (link to google books)
Depending on the context you are operating in, you might need to consider another definition/standard.
If you pay close attention, you'll notice that a test case explicitly talks about a single test item. E.g. an input field.
You'll only seldom find a test case that is so simple in the real world.
Usually you will find a sequence of simple test cases which are by the defintions above test procedures. However most people simply refer to them (wrongly according to the definitions) as test cases.
So being confused about this is totally normal :-)