Method for delivering a medical device coupled with a catheter, to a selectedposition within a lumen of the body of a patient, the method including theprocedures of receiving position data respective of the selected position, theposition data being associated with an image of the lumen, the image beingassociated with a coordinate system, the coordinate system being furtherassociated with a medical positioning system (MPS), determining thecoordinates of the selected position in the coordinate system, determining thecurrent position of the medical device in an MPS coordinate system, accordingto an output of an MPS sensor attached to the catheter in the vicinity of themedical device, maneuvering the medical device through the lumen, toward theselected position, according to the current position relative to the selectedposition, and producing a notification output when the current positionsubstantially matches the selected position.
