Patent ID: 11864856
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A  G

Claim 0:
1. A method comprising:
collecting a set of measured points along a flexible catheter as the flexible catheter is inserted into one or more anatomic passageways of a patient, the measured points based on a shape of the flexible catheter in a patient space;
assigning each measured point of the set of measured points to a respective subset of a plurality of subsets of measured points based upon a depth of each measured point within the one or more anatomic passageways;
comparing the plurality of subsets to identify an optimal subset of the plurality of subsets; and
registering a model of the one or more anatomic passageways to the patient space based on a set of model points of the model and the optimal subset.