Patent ID: 11882990
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A

Claim 5:
6. A medical system comprising:
an elongated flexible device;
a tracking system that determines positional data of the elongated flexible device;
an actuator system that provides motion of the elongated flexible device within a plurality of anatomical passageways of a patient, the motion including insertion and retraction within the plurality of anatomical passageways; and
one or more hardware processors coupled to the tracking system and the actuator system, the one or more hardware processors being configured to:
record the positional data, wherein the positional data comprises a first plurality of positional data points recorded during a first insertion of the elongated flexible device into a first passageway and a second plurality of positional data points recorded during a first retraction of the elongated flexible device within the first passageway;
associate the first plurality of positional data points with the second plurality of positional data points by labeling the first plurality of positional data points and the second plurality of positional data points as first common passageway positional data points; and
register the positional data with a model of the plurality of anatomical passageways of the patient, wherein the registering includes matching the first common passageway positional data points with corresponding first common passageway model data points.