1. A method for continuous guidance of endoscopy during a live procedure, comprising the steps of: a) providing a precomputed data-set based on 3D image data, the data-set including reference information representative of a predefined route through a body organ to a final destination, the reference information including virtual endoscopic (VE) image data representing one or more of the following: 3D organ surfaces, 3D routes through an organ system, and 3D regions of interest (ROIs); b) displaying a plurality of live real endoscopic (RE) images as an operator maneuvers an endoscope within the body organ; c) presenting information, corresponding to an initial reference location along the predefined route, which enables an endoscope operator to move the endoscope toward the reference location; d) invoking a registration/tracking algorithm that registers the VE image data to one or more of the RE images and continuously maintains the registration as the endoscope is locally maneuvered; e) presenting information corresponding to another reference location along the predefined route, which enables the endoscope operator to move the endoscope close to this new reference location; f) repeating steps d)-e) a plurality of times until the endoscope is within the vicinity of the final destination; and g) when the final destination is within the field of view of the endoscope, providing additional information enabling the endoscope operator to decide on a final maneuver for the procedure, the additional information including an icon, other the ROI itself, superimposed on at least one of the VE and RE images to visually indicate a direction from the final destination, including a visual indication of where to penetrate through the wall of the body organ, to the ROI.