Systems and methods for guided endoscope navigation include a registration module (118) configured to, using a processor, register a first set of images (112) with a second set of images (114) of an endoscope (102). A selection module (120) is configured to receive selected areas of interest on the first set of images and transform the selected areas of interest to an endoscope coordinate frame. A guidance module (122) is configured to overlay guidance tools onto the second set of images to permit a user of the endoscope to navigate to the selected areas of interest.
