A surgical system comprises a display screen, an endoscopic device, and a non-transitory, computer-readable storage medium that stores a plurality of instructions for execution by one or more computer processors. The instructions are for: determining a current position of a reference point on the endoscopic device relative to a reference frame; determining a first vector from the current position to a position of a first landmark relative to the reference frame; transforming the first vector from the reference frame to an image reference frame that corresponds to a perspective of an image capturing device disposed at a tip of the endoscopic device; displaying a graphical representation of the transformed first vector along with a current image captured by the image capturing device—the displayed graphical representation indicates a direction to steer the tip of the endoscopic device towards the first landmark; and periodically repeating the above processes.