Abstract: A method for correcting location of a virtual target in a patient during a live procedure comprises segmenting the organ and the real target from an initial pre-procedure image data set; receiving a live procedure image data set of the patient including the organ and the real target and camera tracking information; registering the initial pre-procedure image data set and the live image data set; determining a candidate location of a virtual target for the real target based on the initial registration; generating a first image at a first view angle showing the virtual target and the real target; adjusting the candidate location of the virtual target to match the actual location of the real target in the first image; and computing a corrected location for the virtual target based on the adjusting step. Related systems are disclosed.