A system for planning a pathway through an anatomical luminal network of a patient, the system comprising: a memory storing a computer program configured to analyze and manipulate CT images; a processor configured to execute the computer program; and a display device configured to display a user interface of the computer program, the program, when executed by the processor, performing the steps of: defining an initial axis of rotation from a target in the image to an known airway of the anatomical luminal network; in response to an input from a user, rotating a CT image of the anatomical luminal network of the patient about the axis of rotation to assist a user in identifying an airway of the anatomical luminal network; receiving an input from a user indicating a location for a first waypoint in the identified airway of the CT image and setting the waypoint in the identified airway; and generating a pathway from the target to the first waypoint set by the user; and if the first waypoint is not within a known airway of the anatomical luminal network, defining a further axis of rotation along the pathway from the target to the first waypoint and generating a pathway from the first waypoint to a second waypoint set by the user by repeating to. a memory storing a computer program configured to analyze and manipulate CT images; a processor configured to execute the computer program; and a display device configured to display a user interface of the computer program, the program, when executed by the processor, performing the steps of: defining an initial axis of rotation from a target in the image to an known airway of the anatomical luminal network; in response to an input from a user, rotating a CT image of the anatomical luminal network of the patient about the axis of rotation to assist a user in identifying an airway of the anatomical luminal network; receiving an input from a user indicating a location for a first waypoint in the identified airway of the CT image and setting the waypoint in the identified airway; and generating a pathway from the target to the first waypoint set by the user; and if the first waypoint is not within a known airway of the anatomical luminal network, defining a further axis of rotation along the pathway from the target to the first waypoint and generating a pathway from the first waypoint to a second waypoint set by the user by repeating to. defining an initial axis of rotation from a target in the image to an known airway of the anatomical luminal network; in response to an input from a user, rotating a CT image of the anatomical luminal network of the patient about the axis of rotation to assist a user in identifying an airway of the anatomical luminal network; receiving an input from a user indicating a location for a first waypoint in the identified airway of the CT image and setting the waypoint in the identified airway; and generating a pathway from the target to the first waypoint set by the user; and if the first waypoint is not within a known airway of the anatomical luminal network, defining a further axis of rotation along the pathway from the target to the first waypoint and generating a pathway from the first waypoint to a second waypoint set by the user by repeating to.