An endo-robot can be tracked and a reconstructed 3D volume of data can be
created for virtual endoscopy. The 3D position and orientation of each
image captured by the endo-robot is determined. The longitudinal distance
traveled inside the structure of interest is determined. The position,
orientation and longitudinal distance are used to register the position
of the endo-robot to a corresponding position inside the 3D volume of
data. Virtual endoscopy can be used to locate areas of interest and
correlate clinical findings with the images of the areas of interest.