A system and method are provided for delivering a medical device on a catheter to a selected position within a lumen of the body. A medical positioning system (MPS) acquires MPS data for points within the lumen using an MPS sensor on the catheter. Each of the points is associated with a three-dimensional coordinate system and an activity state of an organ of the patient. A user interface receives position data for the selected position. The position date is associated with an MPS representation associated with one of the points. A processor determines a plurality of temporal three-dimensional trajectory representations based on the MPS data and corresponding to the respective activity states of the organ. The processor superimposes the temporal three-dimensional trajectory representations on a two-dimensional image according to the activity states of the organ thereby enabling an operator to visually navigate the medical device toward the selected position.