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

Claim 16:
17. The non-transitory computer readable storage medium of claim 13, wherein:
the model comprises a plurality of segments,
determining that the path leaves the mapped portion of the luminal network before reaching the target comprises determining that the path leaves the mapped portion of the luminal network from a first segment of the model,
the non-transitory computer readable storage medium further has stored thereon instructions that, when executed, cause the at least one computing device to:
identify a location of one or more unmapped intersections between the first segment and one or more unmapped segments the luminal network; and
determine that the current location of the instrument is within a defined distance from the location of the one or more unmapped intersections, and

updating the current location of the instrument based on the reduction of weight given to the first modality is further in response to determining that the current location of the instrument is within the defined distance from the location of the one or more unmapped intersections.