Patent ID: 11877806
Assignee: COVIDIEN LP
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A  G

Claim 9:
10. A system for updating a 3D model of a luminal network, the system comprising:
a location sensor on a tool configured to be navigated within a luminal network inside a patient's body;
an EM navigation system including:
an EM field generator configured to generate an EM field; and
an EM tracking system configured to detect a location of the location sensor within the EM field; and
a computing device including a processor and a memory storing instructions which, when executed by the processor, cause the computing device to:
identify a first region of the luminal network and a second region of the luminal network;
receive location data associated with the location sensor;
identify a plurality of potential matches in the 3D model from the location data;
assign at least one of the plurality of potential matches a registration score based on a deformation model applied to the 3D model, the deformation model including applying a moving window from the first region to the second region of the luminal network, and performing a rigid registration in the moving window; and
display a potential match of the plurality of potential matches having a highest registration score.