A method, including obtaining at least one preoperative image from an imaging modality； identifying, on the at least one preoperative image, at least one element located within an area of interest； obtaining at least one intraoperative image； highlighting the at least one element on the at least one intraoperative image； navigating a radial endobronchial ultrasound probe to the area of interest using the at least highlighted at least one element； acquiring a plurality of radial endobronchial ultrasound images； extracting a plurality of two-dimensional representations of the element, each of the plurality of two-dimensional representations of the element being extracted from a corresponding one of the plurality of radial endobronchial ultrasound images； reconstructing a three-dimensional representation of the element from the plurality of two-dimensional representations of the element； and projecting a two-dimensional projection of the three-dimensional representation of the element on at least one of the at least one intraoperative image.
