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

Claim 0:
1. A method performed by a medical system comprising:
driving, via a drive unit, a flexible elongate device along a plurality of passageways;
determining, via a tracking system communicatively coupled to the drive unit, positional data of the flexible elongate device using one or more sensors coupled to the flexible elongate device;
providing, via an actuator system communicatively coupled to the drive unit, motion of the flexible elongate device along the plurality of passageways, the motion including insertion and retraction within the plurality of passageways;
recording, via one or more hardware processors communicatively coupled to the tracking system and the actuator system, the positional data, wherein the positional data includes a first plurality of positional data points recorded during a first insertion of the flexible elongate device into a first passageway of the plurality of passageways and a second plurality of positional data points recorded during a first retraction of the flexible elongate device within the first passageway;
associating, via the one or more hardware processors, 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
registering, via the one or more hardware processors, the positional data with a model of the plurality of passageways, wherein the registering includes matching the first common passageway positional data points with corresponding first common passageway model data points.