A system for visualizing an anatomical target includes an imaging device having a field of view for imaging a portion of a region to be imaged. A three-dimensional model is generated from pre-operative or intra-operative images and includes images of an internal volume in the region to be imaged not visible in the images from the imaging device. An image processing module is configured to receive images from the imaging device such that field of view images of the imaging device are stitched together to generate a composite image of the region to be imaged. The composite image is registered to real-time images and the three-dimensional model. An internal view module is configured to generate for display an internal view of the internal volume at one or more positions along the composite image.