1. A method comprising: during an endoscopic procedure on a body performed by a surgeon, inputting intra-operative scan data generated during the endoscopic procedure by a medical scanning device, the intra-operative scan data being representative of a region of interest in the body; inputting pre-operative scan data generated prior to the endoscopic procedure by a medical scanning device, the pre-operative scan data being representative of the region of interest in the body; coregistering the pre-operative scan data with the intra-operative scan data; capturing data indicative of positions and orientations of a flexible endoscope during the endoscopic procedure; generating real-time three-dimensional surface models of the region of interest based on the intra-operative scan data, preoperative scan data, and the data indicative of positions and orientations of the flexible endoscope; coregistering the generated real-time three-dimensional surface models with live video images generated by a video camera coupled to the flexible endoscope; and displaying, simultaneously and coregistered with each other, the generated real-time three-dimensional surface models and the live video images on a display device, wherein the real-time three-dimensional surface models are rendered from a point of view based on the position and orientation of the body during the endoscopic procedure and not on the point of view of the camera.