Systems and methods for deformation compensation using shape sensing

A medical system comprising:

• a surgical device including a tracking system disposed along a length of an elongate flexible body of the surgical device;
• a memory storing anatomical data describing a patient anatomy;
• and
• a processor configured for:
• generating from the anatomical data an inspiration model and an expiration model of a bronchial structure that includes a set of anatomical passageways;
• determining, by the tracking system, a shape of the elongate flexible body, the elongate flexible body positioned within at least one branch of the set of anatomical passageways;
• computing, based on the determined shape of the elongate flexible body, a total set of forces acting on the set of anatomical passageways in response to the positioning of the elongate flexible body within the at least one branch;
• deforming the inspiration model into a revised inspiration model by adjusting at least one joint between branches in the set of anatomical passageways in the inspiration model based on the total set of forces computed;
• deforming, the expiration model into a revised expiration model by adjusting at least one joint between branches in the set of anatomical passageways in the expiration model based on the total set of forces computed, to thereby change a pose of at least one branch through which the surgical device extends and at least one additional branch through which the surgical device does not extend in the revised expiration model;
• displaying a representation of the revised inspiration model and a representation of the surgical device positioned within the revised inspiration model in a display system when the bronchial structure is in a state of inspiration;
• and
• displaying a representation of the revised expiration model and a representation of the surgical device positioned within the revised expiration model in the display system when the bronchial structure is in a state of expiration.