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

Claim 10:
11. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to:
access a model of a luminal network, the model generated from at least one computerized tomography (CT) scan;
obtain shape data generated by a shape sensor of a medical instrument;
estimate a first location of a distal end of the medical instrument with respect to the model of the luminal network based on the shape data and a registration between the shape data and the model of the luminal network;
cause the estimated first location to be displayed on a display;
command a robotic arm, based on command data, to move the distal end of the medical instrument away from the estimated first location;
estimate, independent of the registration between the shape data and the model of the luminal network, a second location of the distal end of the medical instrument with respect to the model of the luminal network based on the first location and the command data related to the move of the distal end; and
cause the estimated second location to be displayed.