Navigation using a pre-acquired image

A method for imaging, including capturing an initial image of a surface under investigation using a first endoscope, and delineating within the initial image a target region of interest surrounded by an initial image peripheral region, the target region of interest having a location defined with respect to the initial image peripheral region. The method includes capturing a subsequent image of the surface under investigation using a second endoscope and identifying in the subsequent image, by comparison with characteristics of the initial image peripheral region, a subsequent image peripheral region corresponding to the initial image peripheral region. The further includes computing the location of the target region of interest in the subsequent image in response to the identified subsequent image peripheral region.