1. A semi-global method for image-guided bronchoscopy adapted for use with a bronchoscope capable of articulation and rotation, including the steps of: providing a processor coupled to a display device, the processor being programmed to pre-compute a route to a region of interest (ROI) within an airway tree including bifurcations along the pre-computed route; presenting a global picture to a user of a bronchoscope one or more bifurcations along the pre-computed route to the region of interest (ROI) within the airway tree, the global picture symbolically displaying preferred bronchoscope orientations associated with each bifurcation; providing discrete bronchoscope rotation and articulation maneuver instructions at one or more locations along the pre-computed route to guide the user of the bronchoscope to the ROI based upon the preferred bronchoscope orientations, wherein the maneuver instructions are displayed in dialog form.