An embodiment of the invention is method, which can be implemented in 
software, 
firmware, hardware, etc., for virtual fly over inspection of complex anatomical tubular structures. In a preferred embodiment, the method is implemented in 
software, and the 
software reconstructs the tubular anatomical structure from a binary 
imaging data that is originally acquired from 
computer aided tomography scan or comparable 
biological imaging system. The software of the invention splits the entire tubular 
anatomy into exactly two halves. The software assigns a 
virtual camera to each half to perform fly-over navigation. Through controlling the elevation of the 
virtual camera, there is no restriction on its 
field of view (FOV) angle, which can be greater than 90 degrees, for example. The camera viewing volume is perpendicular to each half of the tubular anatomical structure, so potential structures of interest, e.g., polyps hidden behind haustral folds in a colon are easily found. The orientation of the splitting surface is controllable, the navigation can be repeated at another or a plurality of another split orientations. This avoids the possibility that a structure of interest, e.g., a polyp that is divided between the two halves of the anatomical structure in a first fly over is missed during a virtual inspection. Preferred embodiment software conducts 
virtual colonoscopy fly over. Experimental virtual fly over 
colonoscopy software of the invention that performed virtual fly over on 15 clinical datasets demonstrated average surface 
visibility coverage is 99.59+ / −0.2%.