A system for visualizing an anatomical target includes a scope (102) for internal imaging having a field of view less than a region to be imaged. A planning module (104) is configured to receive video from the scope such that field of view images of the scope are stitched together to generate a composite image of the region to be imaged. An image guidance module (016) is configured to move the scope along the anatomical target during a procedure such that an image generated in the field of view of the scope is displayed as live video overlaid on a field of the composite image.
