System and method of generating and updatng a three dimensional model of a luminal network

A system comprising:

• a display configured to display:
• 3D image data of a target, the 3D image data including fiducial markers disposed at a first location;
• first 2D image data of the target imaged from a first viewpoint;
• and
• second 2D image data of the target imaged from a second viewpoint, the second viewpoint oriented at a known angle from the first viewpoint, the first 2D image data and the second 2D image data including the fiducial markers disposed at a second location;
• a computing device including a processor and a memory storing instructions which, when executed by the processor, cause the computing device to:
• determine the second location of the fiducial markers in 3D space according to the second location of the fiducial markers within the first 2D image data, the second location of the fiducial markers within the second 2D image data, and the known angle;
• compare the first location of the fiducial markers in the 3D image data to the second location of the fiducial markers in 3D space;
• determine a difference between the first location of the fiducial markers in the 3D image data and the second location of the fiducial markers in 3D space;
• update the 3D image data with the determined second location of the fiducial markers in 3D space based on the determined difference;
• display the updated 3D image data including the fiducial markers disposed at the second location of the fiducial markers in 3D space via the display;
• determine movement distances between the second location of the fiducial markers in 3D space and the first location of the fiducial markers in the 3D image data;
• determine which of the movement distances exceeds a threshold;
• and
• register the 3D image data generated using images captured in the first imaging with the determined second location of the fiducial markers in 3D space, wherein the registration excludes the second location in 3D space of the fiducial marker corresponding to movement distances that exceed the threshold.

A method of updating a 3D model of a luminal network, comprising:

• generating a 3D model of a luminal network of a patient based on CT imaging of a target and at least one fiducial marker disposed at a first location relative to the target;
• generating 2D image data based on fluoroscopic imaging of the target and the at least one fiducial marker from a first viewpoint and fluoroscopic imaging of the target and the at least one fiducial marker from a second viewpoint orientated at a known angle relative to the first viewpoint;
• determining a second location of the at least one fiducial marker in 3D space based on a second location of the at least one fiducial marker within the 2D image data;
• determining a difference between the first location of the at least one fiducial marker in the CT imaging of the luminal network and the second location of the at least one fiducial marker in 3D space;
• updating the 3D model of the luminal network based on the determined difference between the first location of the at least one fiducial marker in the CT imaging of the luminal network and the second location of the at least one fiducial marker in 3D space;
• displaying the updated 3D model of the luminal network including the at least one fiducial marker disposed at the second location of the at least one fiducial marker in 3D space;
• determining movement distances between the second location of the fiducial marker in 3D space and the first location of the fiducial marker in the CT imaging;
• determining which of the movement distances exceed a threshold;
• and
• registering the 3D model generated using images captured in the CT imaging with the determined second location of the fiducial markers in 3D space, wherein the registering excludes the second location in 3D space of the fiducial marker corresponding to movement distances that exceed the threshold.