Patent Document ID: 10159532
Application ID: 16023877
Patent Status: 1

Claim One:
1. A method of facilitating navigation of an anatomical luminal network of a patient, the method, executed by a set of one or more computing devices, comprising: receiving imaging data captured by an imaging device at a distal end of an instrument positioned within the anatomical luminal network, wherein the anatomical luminal network includes a right bronchus and a left bronchus; identifying one or more features from the imaging data, the one or more features identified from the imaging data representing a first positioning of the right bronchus and the left bronchus in the imaging data; accessing one or more features associated with a virtual image, the virtual image simulated from a viewpoint of a virtual imaging device positioned at a virtual location within a virtual luminal network representative of the anatomical luminal network, the virtual luminal network including a virtual right bronchus corresponding to the right bronchus and a virtual left bronchus corresponding to the left bronchus, wherein the one or more features associated with the virtual image represent a second positioning of the virtual right bronchus and the virtual left bronchus in the virtual image; calculating a correspondence between the first positioning and the second positioning; and determining a roll of the distal end of the instrument within the anatomical luminal network based on the calculated correspondence.