Patent ID: 11950898
Assignee: AURIS HEALTH, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 15:
16. A method, comprising:
accessing a model of a luminal network, the model generated from at least one computerized tomography (CT) scan;
determining a first location of a distal end of a medical instrument with respect to the model of the luminal network based on first shape data generated by a shape sensor of the medical instrument, the first shape data corresponding to a first time;
commanding a robotic arm to move the distal end of the medical instrument based on command data, the distal end of the medical instrument to be moved to a second location at a second time after the first time;
estimating the second location of the distal end of the medical instrument with respect to the model of the luminal network at the second time based on the first location and the command data and independently of second shape data corresponding to the second time generated by the shape sensor; and
causing the estimated second location to be displayed.