1. A flexible endoscope capable of being visually guided through linked passages within a body, comprising: (a) a light source; (b) an optical fiber having a cantilevered portion disposed adjacent to a distal end of the flexible endoscope; (c) an actuator that is energized to drive the optical fiber to move in a desired pattern to scan a region adjacent to the distal end of the flexible endoscope by emitting light from the cantilevered portion that was conveyed from the light source through the optical fiber; (d) a light sensor that senses light reflected from the region, producing a signal that is usable to image the region to enable visual guidance of the flexible endoscope through the linked passages; (e) a sensor producing an output signal indicating a disposition of the distal end of the flexible endoscope, the output signal being adapted to couple to a tracking system that responds to the output signal produced by the sensor and produces an indication of the disposition of the distal end of the flexible endoscope within the linked passages, as the flexible endoscope is advanced through the linked passages; (f) at least one touch sensor disposed at the distal end of the flexible endoscope, each such touch sensor being configured to respond to contact with tissue, and to provide a signal indicative of such contact, such a signal enabling a user to determine when the distal end of the flexible endoscope has reached a junction between the linked passages; and (g) a display on which a three-dimensional model of the linked passages is presented, the three-dimensional model being updated as necessary so that a corresponding junction shown in the three-dimensional model agrees with a location of the junction indicated by the signal from the touch sensor and by the sensor indicating the position of the distal end of the flexible endoscope.