A medical system comprising: a flexible device including a shape sensor ; a memory storing anatomical data describing a patient anatomy; and a processor configured to: generate a first model of a plurality of bronchial passageways from stored anatomical data describing a patient anatomy recorded while the bronchial passageways are in a state of lung expiration, the state of lung expiration being a first state of an alternating movement; generate a second model of the plurality of bronchial passageways from stored anatomical data describing a patient anatomy recorded while the bronchial passageways are in a state of lung inspiration, the state of lung inspiration being a second state of the alternating movement; generate a first image of the flexible device in a first shape positioned within the first model of the plurality of bronchial passageways when the bronchial passageways are in the state of lung expiration; and generate a second image of the flexible device in a second shape positioned within the second model of the plurality of bronchial passageways when the bronchial passageways are in the state of lung inspiration. a flexible device including a shape sensor ; a memory storing anatomical data describing a patient anatomy; and a processor configured to: generate a first model of a plurality of bronchial passageways from stored anatomical data describing a patient anatomy recorded while the bronchial passageways are in a state of lung expiration, the state of lung expiration being a first state of an alternating movement; generate a second model of the plurality of bronchial passageways from stored anatomical data describing a patient anatomy recorded while the bronchial passageways are in a state of lung inspiration, the state of lung inspiration being a second state of the alternating movement; generate a first image of the flexible device in a first shape positioned within the first model of the plurality of bronchial passageways when the bronchial passageways are in the state of lung expiration; and generate a second image of the flexible device in a second shape positioned within the second model of the plurality of bronchial passageways when the bronchial passageways are in the state of lung inspiration. generate a first model of a plurality of bronchial passageways from stored anatomical data describing a patient anatomy recorded while the bronchial passageways are in a state of lung expiration, the state of lung expiration being a first state of an alternating movement; generate a second model of the plurality of bronchial passageways from stored anatomical data describing a patient anatomy recorded while the bronchial passageways are in a state of lung inspiration, the state of lung inspiration being a second state of the alternating movement; generate a first image of the flexible device in a first shape positioned within the first model of the plurality of bronchial passageways when the bronchial passageways are in the state of lung expiration; and generate a second image of the flexible device in a second shape positioned within the second model of the plurality of bronchial passageways when the bronchial passageways are in the state of lung inspiration. <EOS>