Endoscope with perspective view

An endoscopic imaging system comprising:

• an endoscope having a steerable distal tip including a camera;
• and
• an endoscope controller connected to the endoscope, the endoscope controller comprising a processor and memory, storing instructions that when executed by the processor, cause the endoscopic controller to perform operations comprising:
• receive an indication to activate a virtual anchor;
• based on receiving the indication to activate the virtual anchor, set a current image frame from the camera as a reference image frame;
• identify a first position of a landmark feature in the reference image frame;
• receive an updated image frame captured subsequent to the reference image frame;
• identify a second position of the landmark feature in the updated image frame;
• and
• based on a difference between the first position and the second position, perform at least one of:
• generate corrective steering signals to steer the distal tip;
• or
• shift a cropped region of the updated image frame.

An endoscope comprising:

• a proximal end;
• a steerable distal tip including an articulating segment;
• and
• a collapsible working channel, positioned on an outer surface of the endoscope, capable of selectively collapsing and expanding to receive a surgical tool, the collapsible working channel comprising:
• a proximal opening;
• and
• a distal opening positioned proximally from the articulating segment.