Patent ID: 8908941

Claim:
A system comprising: (a) a receiver circuit configured to receive (i) a first reference image that includes an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having a first spatial relationship to a destination region of interest of the mammalian body part; (ii) a second reference image that includes a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to a distal end portion of a body-insertable device deployed operationally proximate to the mammalian body part; (b) a computer-readable media configured to store a subsurface feature atlas of the mammalian body part; (c) a feature matching circuit configured to determine (i) a substantial correspondence between the objective landmark subsurface feature and a first atlas subsurface feature included in the subsurface feature atlas of the mammalian body part, and (ii) a substantial correspondence between the present-location landmark subsurface feature and a second atlas subsurface feature included in the subsurface feature atlas of the mammalian body part, the subsurface feature atlas includes at least two registered subsurface features of the mammalian body part, including the first atlas subsurface feature and the second atlas subsurface feature having at least one intervening atlas subsurface feature therebetween, the registration including an indication of a third spatial relationship and orientation between the first atlas subsurface feature and the second atlas subsurface feature; (d) a location analysis circuit configured to determine a fourth spatial relationship and orientation between the destination region of interest and the distal end portion of the body-insertable device deployed operationally proximate to the mammalian body part, the determined fourth spatial relationship and orientation at least partially based on the third spatial relationship; (e) an indicator circuit configured to generate informational data indicative of the determined fourth spatial relationship and orientation between the destination region of interest and the distal end portion of the body-insertable device, the informational data at least partially based on the fourth spatial relationship and orientation between the destination region of interest and the distal end portion of the body-insertable device; and (f) the computer-readable media further configured to maintain the informational data.