A method for planning and guiding an
endoscopic procedure includes obtaining a first scan of a
chest cavity at near total
lung capacity, obtaining a second scan of the
chest cavity at near
functional residual capacity, generating a virtual
chest cavity based at least in part on the first scan and the second scan, defining one or more regions of interest (ROI) in the virtual chest cavity, determining a
route to the one or more ROIs based on the virtual chest cavity, directing
endoscope hardware through an
airway to the one or more ROIs along the predetermined
route, monitoring, by a processor, a real-time position of the
endoscope hardware relative to an expected position along the predetermined
route, and performing an examination of the one or more ROIs when the real-time position of the
endoscope hardware corresponds to an expected ROI location.