A method and system for respiratory monitoring and indicating intervention tool advancement timing during an intervention procedure. Features include monitoring the respiration of a subject using a respiration monitor, wherein the respiration monitor produces a respiratory signal indicative of a plurality of respiratory states of the subject, scanning the subject using an imaging device and generating a first imaging data set, wherein the imaging data set is associated with a respiratory state of the subject, and indicating when to advance an intervention tool based on the respiratory signal using an advancement indicator, such that advancement of the intervention tool occurs during the respiratory state of the subject, and where the subject need not hold his breath.
