A medical scan correction system comprising: a medical instrument having a distal end and an image sensor disposed at the distal end, and configured to be inserted into a body-part of a living subject; a position sensor configured to track an instrument position of the medical instrument in the body-part; a display ; and a controller configured to: register a medical scan of the body-part with a coordinate frame of the medical instrument, the medical scan including a plurality of initial tissue-type indications of the body-part; render to the display, a first image including: a representation of the body-part and the plurality of initial tissue-type indications based on the medical scan; and a representation of the medical instrument disposed at the tracked instrument position in the body-part; render to the display, a second image captured at the tracked instrument position by the image sensor of a portion of the body-part; and responsively to a comparison between an appearance of a tissue in the second image of the portion of the body-part and an initial tissue-type indication of the tissue, update the medical scan to modify the tissue-type indication associated with the tissue. a medical instrument having a distal end and an image sensor disposed at the distal end, and configured to be inserted into a body-part of a living subject; a position sensor configured to track an instrument position of the medical instrument in the body-part; a display ; and a controller configured to: register a medical scan of the body-part with a coordinate frame of the medical instrument, the medical scan including a plurality of initial tissue-type indications of the body-part; render to the display, a first image including: a representation of the body-part and the plurality of initial tissue-type indications based on the medical scan; and a representation of the medical instrument disposed at the tracked instrument position in the body-part; render to the display, a second image captured at the tracked instrument position by the image sensor of a portion of the body-part; and responsively to a comparison between an appearance of a tissue in the second image of the portion of the body-part and an initial tissue-type indication of the tissue, update the medical scan to modify the tissue-type indication associated with the tissue. register a medical scan of the body-part with a coordinate frame of the medical instrument, the medical scan including a plurality of initial tissue-type indications of the body-part; render to the display, a first image including: a representation of the body-part and the plurality of initial tissue-type indications based on the medical scan; and a representation of the medical instrument disposed at the tracked instrument position in the body-part; render to the display, a second image captured at the tracked instrument position by the image sensor of a portion of the body-part; and responsively to a comparison between an appearance of a tissue in the second image of the portion of the body-part and an initial tissue-type indication of the tissue, update the medical scan to modify the tissue-type indication associated with the tissue. <EOS>