A navigation system comprising: a tool configured to be advanced through a patient's luminal network, the tool having a first electromagnetic position sensor located on the distal end of the tool; a catheter configured to receive the tool, the catheter having a second electromagnetic position sensor located on the distal end of the catheter; an electromagnetic tracking system for tracking the positions of the first and second sensors; a display device ; a processor and associated memory , the processor coupled to the display device and to the tracking system, the memory storing instructions that when executed by the processor cause the processor to: display an image of a portion of a patient's luminal network on the display device; identify (S402) a location of a target site within a patient's body; track (S404) a location of the tool having the first sensor; determine (S406) a distance between the location of a target site and the tool; display (S407), on the display, the determined distance between the location of a target site and the tool; track (S404) a location of the catheter having the second sensor; determine (S406a) a distance between the location of the tool and the catheter; and display (S407), on the display, the distance between the location of the tool and the catheter. a tool configured to be advanced through a patient's luminal network, the tool having a first electromagnetic position sensor located on the distal end of the tool; a catheter configured to receive the tool, the catheter having a second electromagnetic position sensor located on the distal end of the catheter; an electromagnetic tracking system for tracking the positions of the first and second sensors; a display device ; a processor and associated memory , the processor coupled to the display device and to the tracking system, the memory storing instructions that when executed by the processor cause the processor to: display an image of a portion of a patient's luminal network on the display device; identify (S402) a location of a target site within a patient's body; track (S404) a location of the tool having the first sensor; determine (S406) a distance between the location of a target site and the tool; display (S407), on the display, the determined distance between the location of a target site and the tool; track (S404) a location of the catheter having the second sensor; determine (S406a) a distance between the location of the tool and the catheter; and display (S407), on the display, the distance between the location of the tool and the catheter. display an image of a portion of a patient's luminal network on the display device; identify (S402) a location of a target site within a patient's body; track (S404) a location of the tool having the first sensor; determine (S406) a distance between the location of a target site and the tool; display (S407), on the display, the determined distance between the location of a target site and the tool; track (S404) a location of the catheter having the second sensor; determine (S406a) a distance between the location of the tool and the catheter; and display (S407), on the display, the distance between the location of the tool and the catheter. <EOS>