A tracking, and point-of-view-based imaging, device (300) is configured for deriving a position of and a direction from, a location at a distal tip (106) of an elongated instrument (102), for performing coordinate system transformation in accordance with the position and direction, and for forming, from the location and based on a result of the transformation, a local view (120) that moves with the tip. The device can keep, with the movement, a field of view (128) of the local view fixed but the local view otherwise in synchrony with the position and the direction. 126 From real-time ultrasound imaging, the local view and a more overall view that includes the tip but which does not move with said tip can be displayed. The distal tip can be that of a catheter and can be outfitted with a micromanipulator for surgery aided interactively by the combination of dynamic local and overall imaging.
