Patent ID: 11969217
Assignee: AURIS HEALTH, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 12:
13. A robotic system for navigating a luminal network, the system comprising:
an instrument having an elongate body and a sensor disposed on a distal end of the elongate body;
at least one computer-readable memory having stored thereon executable instructions; and
one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least:
access a preoperative model of a mapped portion of the luminal network and display the preoperative model on a user display, the preoperative model comprising at least a first segment and an end of the first segment, the end of the first segment adjacent to an unmapped portion of the luminal network;
determine a position of the distal end of the instrument within the luminal network relative to the preoperative model using the sensor;
detect, based on the determined position relative to the preoperative model, when the distal end of the instrument has approached within a predetermined distance to the end of the first segment;
enter a path tracing mode in response to the distal end of the instrument approaching the predetermined distance to the end of the first segment;
identify a branch junction in the unmapped portion of the luminal network, the branch junction having a plurality of branch segments navigable from the branch junction;
indicate, using a first type of visual indicia at the branch junction, that at least one branch segment of the plurality of branch segments has not been navigated;
determine that the distal end of the instrument has navigated every branch segment of the plurality of branch segments; and
in response to the determination that the distal end of the instrument has navigated every branch segment of the plurality of branch segments, replace the first type of visual indicia with a second type of visual indicia at the branch junction.