Patent ID: 11864850
Assignee: AURIS HEALTH, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 11:
12. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to:
determine that a path leaves a mapped portion of a luminal network of a patient before reaching a target, at least one computer-readable memory having stored thereon a model of the mapped portion of the luminal network, a position of the target with respect to the model, and the path along at least a portion of the model from an access point to the target;
determine a current location of an instrument based on a weight given to at least a first modality, the first modality derives a location based on location data received from a set of one or more location sensors and the mapped portion of the model, the instrument is configured to be driven through the luminal network;
determine, based on the current location, that a distal end of the instrument is within a threshold range of a point at which the path leaves the mapped portion of the luminal network; and
in response to determining that the distal end of the instrument is within the threshold range of the point at which the path leaves the mapped portion of the luminal network, update the current location of the instrument based on a reduction of the weight given to the first modality; and
command a robotic arm to move the instrument within the luminal network based on the updated location of the instrument.