Systems and methods for registration of location sensors

A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to:

• provide a first set of commands to a set of instrument manipulators to drive an instrument along a first branch of a luminal network, the instrument comprising a set of one or more location sensors, the set of one or more location sensors configured to generate location data indicative of a position of the set of one or more location sensors in a location sensor coordinate system, the set of instrument manipulators configured to control movement of a distal end of the instrument, a memory having stored thereon:
• (i) a model of a luminal network of a patient, the model comprising a target within a model coordinate system and a path to the target and (ii) a registration route comprising the first branch of the luminal network outside the path to the target and a second branch of the luminal network that is a part of the path to the target;
• track a set of one or more registration parameters during the driving of the instrument along the first branch in accordance with the registration route;
• determine that the set of one or more registration parameters satisfies a registration criterion;
• provide a second set of commands to the set of instrument manipulators to return the instrument back to the path and to drive the instrument along the second branch in accordance with the registration route;
• and
• determine a registration between the location sensor coordinate system and the model coordinate system based on the location data received from the set of one or more location sensors during the driving of the instrument along the first branch and the second branch.

A method of registering a set of one or more location sensors, comprising:

• providing a first set of commands to a set of instrument manipulators to drive an instrument along a first branch of a luminal network, the instrument comprising the set of one or more location sensors, the set of one or more location sensors configured to generate location data indicative of a position of the set of one or more location sensors in a location sensor coordinate system, the set of instrument manipulators configured to control movement of a distal end of the instrument, a memory having stored thereon:
• (i) a model of a luminal network of a patient, the model comprising a target within a model coordinate system and a path to the target and (ii) a registration route comprising the first branch of the luminal network outside the path to the target and a second branch of the luminal network that is a part of the path to the target;
• tracking a set of one or more registration parameters during the driving of the instrument along the first branch in accordance with the registration route;
• determining that the set of one or more registration parameters satisfies a registration criterion,
• providing a second set of commands to the set of instrument manipulators to return the instrument back to the path and to drive the instrument along the second branch in accordance with the registration route;
• and
• determining a registration between the location sensor coordinate system and the model coordinate system based on the location data received from the set of one or more location sensors during the driving of the instrument along the first branch and the second branch.