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

Claim 18:
19. A method of determining a navigation path of an instrument within a luminal network, the method comprising:
displaying, on a user interface, a preoperative model corresponding to a mapped portion of the luminal network, 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;
determining a position of a distal end of an instrument within the luminal network relative to the end of the first segment and the unmapped portion of the luminal network;
moving the instrument within the luminal network;
entering a path tracing mode in response to the position of the distal end of the instrument reaching a predetermined distance from the end of the first segment;
displaying, on the user interface, 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;
indicating, using a first type of visual indicia at the branch junction, that at least one branch segment of the plurality of branch segments is unexplored;
determining 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, replacing the first type of visual indicia with a second type of visual indicia at the branch junction.