1. A method comprising: during an endoscopic procedure on a body, 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; capturing data indicative of positions and orientations of a flexible endoscope during the endoscopic procedure; generating real-time three-dimensional scan images of the region of interest based on the intra-operative scan data and the data indicative of positions and orientations of the flexible endoscope; coregistering the real-time three-dimensional scan images with live video images generated by a video camera coupled to the flexible endoscope; and causing the real-time three-dimensional scan images and the live video images to be displayed coregistered on a display device.