I have a solution, but I hope it's not too confusing. I'm assuming you're using the GUI editor. (If not, I can provide the corresponding code view script, but it might be easier to use the editor anyway.)
Where you want the picture to show up, add a "Print a message" script command, and then first change "message" to "expression". Then drop in something like this in the field after "expression":
"<img style='position:relative; left:100px;' onclick='sendCommand(\"go to kitchen\")' src=" + GetFileURL("9.png") + "/>"
This is only a sample. The key parts are
1) the name of the image you want to show as the GetFileURL parameter (9.png, in this example),
2) the command you want executed when clicked as the sendCommand parameter (go to kitchen, in this example), and
3) the horizontal position where you want the image to show up. The position is set to "relative" in the style so it can be positioned.
That might be a bit much, but it does work. If you have any questions or trouble, please let me know.