An apparatus (IO) for displaying a moving region of interest located within a body includes a positioning system (20) to determine a position and orientation (P&O) of a medical device (26) as well as to track, using an internal position reference sensor (24 l), the motion of the region of interest over time. A compensation function block (28) generates a motion compensation function (28) based on the motion of the region of interest, which is configured to compensate for the motion of the region of interest between a first time, for example a time at which an image (18) was acquired and a second time, for example a time at which a P&O of the device (26) was measured. The measured P&O is corrected using the compensation function (28). A representation of the medical device (26) is superimposed on the image (18) in accordance with the corrected P&O.
