A method for visualization includes registering,within a common frame of reference, a position sensingsystem and a three-dimensional (3D) computerizedtomography (CT) image of at least a part of a body of apatient. A location andorientation of at least onevirtual camera are specified within the common frame ofreference. Coordinates of a medical tool moving within apassage in the body are tracked using the positionsensing system. A virtual endoscopic image, based on the3D CT image, of the passage in the body is rendered anddisplayed from the specified location and orientation,including an animated representation of the medical toolpositioned in the virtual endoscopic image in accordancewith the tracked coordinates.
