A system for providing visual assistance to a user during a medical procedure involving a soft organ comprising: at least one processor configured to: segment the soft organ and surrounding anatomical structures of the soft organ from image data obtained from a patient; and generate a three dimensional image of the soft organ and the surrounding anatomical structures based on the segmentation; a surgical instrument configured to move inside a body of the patient during the medical procedure; a surgical instrument tracker configured to: track a location and an orientation of the surgical instrument when the surgical instrument moves inside the body during the medical procedure; place a corresponding virtual surgical instrument, based on the tracked location and orientation, in a 3D scene to reveal a relative spatial relationship of the surgical instrument with respect to the soft organ; and generate one or more images based on the location and the orientation of the corresponding virtual surgical instrument in the 3D scene, wherein the one or more images represent close-up views looking forward directly from the tip of the virtual surgical instrument, so that users can see the surrounding structures; and a display in communication with the at least one processor and the surgical instrument tracker and configured to provide visual assistance during the medical procedure by displaying the three dimensional image with the surgical instrument visualized therein in relation to the soft organ, the surrounding anatomical structures, and the one or more images. at least one processor configured to: segment the soft organ and surrounding anatomical structures of the soft organ from image data obtained from a patient; and generate a three dimensional image of the soft organ and the surrounding anatomical structures based on the segmentation; segment the soft organ and surrounding anatomical structures of the soft organ from image data obtained from a patient; and generate a three dimensional image of the soft organ and the surrounding anatomical structures based on the segmentation; a surgical instrument configured to move inside a body of the patient during the medical procedure; a surgical instrument tracker configured to: track a location and an orientation of the surgical instrument when the surgical instrument moves inside the body during the medical procedure; place a corresponding virtual surgical instrument, based on the tracked location and orientation, in a 3D scene to reveal a relative spatial relationship of the surgical instrument with respect to the soft organ; and generate one or more images based on the location and the orientation of the corresponding virtual surgical instrument in the 3D scene, wherein the one or more images represent close-up views looking forward directly from the tip of the virtual surgical instrument, so that users can see the surrounding structures; and track a location and an orientation of the surgical instrument when the surgical instrument moves inside the body during the medical procedure; place a corresponding virtual surgical instrument, based on the tracked location and orientation, in a 3D scene to reveal a relative spatial relationship of the surgical instrument with respect to the soft organ; and generate one or more images based on the location and the orientation of the corresponding virtual surgical instrument in the 3D scene, wherein the one or more images represent close-up views looking forward directly from the tip of the virtual surgical instrument, so that users can see the surrounding structures; and a display in communication with the at least one processor and the surgical instrument tracker and configured to provide visual assistance during the medical procedure by displaying the three dimensional image with the surgical instrument visualized therein in relation to the soft organ, the surrounding anatomical structures, and the one or more images.