Medical system enabling a manual or automatic repositioning of a flexible endoscope at a specific location during at least one "new" exploration subsequent to a first or "reference" exploration during which said specific location in a tubular more or less deformable organ, has already been explored by said endoscope, said medical system comprising i) a flexible endoscope at least equipped with an image taking device, and possibly at least one tool or instrument, ii) display and movement control (3") means associated with said endoscope, iii) a tracking device or system providing 3D position and orientation of the end tip of the endoscope, such as an electromagnetic tracking device or a fiberoptic tracking device, which is affixed to or mounted into the tip of the flexible endoscope, iiii) computer means and associated storing means, wherein said storing means are adapted to store a "reference exploration" video acquired through the flexible endoscope during its "reference" exploration, wherein each of the captured video images is associated with a synchronously recorded endoscope tip 3D position and orientation and the "reference exploration" video comprises images of a tagged anatomical landmark of the tubular organ, characterised in that the medical system is configured to i) guide the flexible endoscope during the "new" exploration to the tagged anatomical landmark, record the 3D position and orientation of the tagged anatomical landmark, ii) use a translation (t) from the 3D position and orientation of the tagged anatomical landmark for aligning the video images of the "reference" exploration along a central axis (z) of the tubular organ, iii) compute a spatial correspondence between the endoscope tip position of the "new" exploration and the endoscope tip position of the "reference" exploration, iv) search for the spatially closest neighbour image of the "reference exploration" video as a best matching image of the "reference" exploration, and v) display in parallel on or in two different windows on one or more screens a live image of the "new exploration" video and the best matching image of the "reference" exploration. i) a flexible endoscope at least equipped with an image taking device, and possibly at least one tool or instrument, ii) display and movement control (3") means associated with said endoscope, iii) a tracking device or system providing 3D position and orientation of the end tip of the endoscope, such as an electromagnetic tracking device or a fiberoptic tracking device, which is affixed to or mounted into the tip of the flexible endoscope, iiii) computer means and associated storing means, i) guide the flexible endoscope during the "new" exploration to the tagged anatomical landmark, record the 3D position and orientation of the tagged anatomical landmark, ii) use a translation (t) from the 3D position and orientation of the tagged anatomical landmark for aligning the video images of the "reference" exploration along a central axis (z) of the tubular organ, iii) compute a spatial correspondence between the endoscope tip position of the "new" exploration and the endoscope tip position of the "reference" exploration, iv) search for the spatially closest neighbour image of the "reference exploration" video as a best matching image of the "reference" exploration, and v) display in parallel on or in two different windows on one or more screens a live image of the "new exploration" video and the best matching image of the "reference" exploration.