Methods and systems for imaging internal tissues within a body are provided. In one aspect, a method for imaging an internal tissue of a body is provided. The method includes inserting an image gathering portion of a flexible endoscope into the body. The image gathering portion is coupled to a sensor configured to sense motion of the image gathering portion with respect to fewer than six degrees of freedom. A tracking signal indicative of motion of the image gathering portion is generated using the sensor. The tracking signal is processed in conjunction with supplemental data of motion of the image gathering portion to determine a spatial disposition of the image gathering portion within the body. In many embodiments, the method includes collecting a tissue sample from the internal tissue.
