1. A method for automatic local path planning for a virtual endoscope, comprising the steps of: deriving a colon dataset obtained by a colonoscopy protocol for utilization in subsequent steps; defining a sub volume around a current endoscope position in a lumen; performing a region growing inside said lumen, starting from said current endoscope position; calculating and clustering the intersection of said region with the faces of a cube circumscribing said sub volume; calculating approximated centerline paths from said current endoscope position to the center of each cluster formed in the preceding step; comparing each of said centerline paths with a current path exhibited by said endoscope; assigning a score based on said comparing, to each of said centerline paths; and selecting a centerline path based on said score.