An apparatus includes an elongate body configured to be at least partially inserted into a gastrointestinal lumen. The elongate body is configured to perform a medical procedure within the gastrointestinal lumen. A beacon element is coupled to the elongate body. The beacon element is configured to be identified within the gastrointestinal lumen using a sensing device. A method includes imaging a gastrointestinal lumen with an imaging device. An apparatus is inserted at least partially into a gastrointestinal lumen. The apparatus has an elongate portion, a tool portion and a beacon element. The location of the beacon element is identified within the gastrointestinal lumen using a sensing device. The tool portion is moved to an area of interest within the gastrointestinal lumen based on the location of the beacon element.