Patent ID: 11903693
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A  G

Claim 9:
10. One or more machine-readable storage devices having encoded thereon instructions configured to cause one or more processing devices to perform operations comprising:
accessing information representing a model of an anatomical structure;
receiving representations of sequential images captured using an image capturing device supported by a distal end of a medical device;
processing the captured sequential images to detect a sequence of a plurality of blobs, the plurality of blobs representing a corresponding first sequence of a plurality of lumens within the anatomical structure,
computing a transitional probability that the first sequence of the plurality of lumens represents a second sequence of plurality of lumens in the model of the anatomical structure, wherein the transitional probability indicates a quality of match for a transition from one lumen to another in the model of the anatomical structure; and,
determining based on the transitional probability, that a location of the distal end of the medical device within the anatomical structure matches a location represented by the second sequence of plurality of lumens within the model of the anatomical structure.