1. An image-guided method comprising: directing an endoscope comprising a five degree of freedom tip sensor to an anatomical position in a patient; capturing video of the patient's anatomy with the endoscope, aligning the captured video with a visual orientation of a user directing the endoscope to the anatomical position; activating a steering mechanism of the endoscope to repeatedly move the tip sensor in an arc constrained to a plane; determining the orientation and location of the tip sensor in the patient as the tip sensor is being repeatedly moved; defining a sixth degree of freedom of the tip sensor using the determined orientation and location of the tip sensor; and correlating the determined tip sensor location and orientation with one or more patient images acquired prior to the repeated movement of the tip sensor.