A tool positioning system for use in a medical procedure is provided which includes a medical tool 422 configured to be navigated to a target tool location. The medical tool includes a sheath 401 having a tube defined by a sheath wall, the sheath extending a length in a proximal-distal direction and an inflatable balloon 402 coupled to the sheath and configured to move along the length of the sheath in the proximal-distal direction. When the inflatable balloon is inflated at a target balloon location along the length of the sheath, the inflated balloon is fixed at the target balloon location. The tool positioning system also includes memory configured to store location of the tool in a three dimensional (3D) space and at least one processor configured to generate mapping information for displaying locations of the tool in the 3D space.
