Method for delivering a medical device coupled with a catheter, to a selected position within a lumen of the body of a patient, the method including the procedures of receiving position data respective of the selected position, the position data being associated with an image of the lumen, the image being associated with a coordinate system, the coordinate system being further associated with a medical positioning system (MPS), determining the coordinates of the selected position in the coordinate system, determining the current position of the medical device in an MPS coordinate system, according to an output of an MPS sensor attached to the catheter in the vicinity of the medical device, maneuvering the medical device through the lumen, toward the selected position, according to the current position relative to the selected position, and producing a notification output when the current position substantially matches the selected position.
