Method for delivering a medical device coupled with a catheter, to a selected position within a lumen of the body of a patient, the method comprising the procedures of: registering a three-dimensional coordinate system with a two-dimensional coordinate system, the three-dimensional coordinate system being associated with a medical positioning system (MPS), the two-dimensional coordinate system being associated with a two-dimensional image of the lumen, the two-dimensional image being further associated with an organ timing signal of an organ of the patient determining the current position of the medical device in the three-dimensional coordinate system, according to an output of an MPS sensor attached to the catheter in the vicinity of the medical device maneuvering the medical device through the lumen, toward the selected position, according to the current position relative to the selected position and producing a notification output when the current position substantially matches the selected position.
