A method system and program product are provided for user steered on the fly path planning in an image guided endoscopic procedure comprising: presenting on a display a 2D sectional image showing a region of interest from a preoperative CT scan defining a control point on the 2D sectional image within a patient s body lumen responsive to a first user input centering the control point adjusting a viewing angle about the control point to show a longitudinal section of the body lumen responsive to a second user input identifying a second point on a planned path within the body lumen responsive to a third user input extending a planned path connecting the control point and the second point redefining the second point as a new control point and repeating the presenting adjusting identifying extending and the redefining steps until the planned path reaches a procedure starting point within the patient s body.
