Robotic system configured for navigation path tracing

A robotic system for navigating a luminal network, the system comprising:

• an instrument having an elongate body and a sensor disposed on a distal end of the elongate body;
• at least one computer-readable memory having stored thereon executable instructions;
• and
• one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the one or more processors to at least:
• access a preoperative model of a mapped portion of the luminal network and display the preoperative model on a user display;
• determine a position of the distal end of the instrument within the luminal network relative to the preoperative model using the sensor;
• determine that the position of the distal end of the instrument is within a predetermined distance of a boundary corresponding to a transition from an end of the mapped portion of the preoperative model to a portion of the luminal network that is unmapped in the preoperative model prior to the distal end of the instrument reaching the boundary;
• enter a path tracing mode in response to determining that the position of the distal end of the instrument is within the predetermined distance of the boundary prior to the distal end of the instrument reaching the boundary;
• and
• when in the path tracing mode, display visual indicia of a path traversed by the distal end of the instrument with respect to the displayed preoperative model on the user display as the instrument is navigated through the luminal network.

A method of determining a navigation path of an instrument within a luminal network, the method comprising:

• displaying, on a user interface, a preoperative model corresponding to a mapped portion of a luminal network;
• determining a position of a distal end of an instrument within the luminal network relative to the mapped portion of the luminal network;
• moving the instrument within the luminal network;
• determining that the position of the distal end of the instrument is within a predetermined distance of a boundary corresponding to a transition from an end of the mapped portion of the preoperative model to a portion of the luminal network that is unmapped in the preoperative model prior to the distal end of the instrument reaching the boundary;
• entering a path tracing mode in response to determining that the position of the distal end of the instrument is within the predetermined distance of the boundary prior to the distal end of the instrument reaching the boundary;
• and
• when in the path tracing mode, displaying visual indicia of a path traversed by the distal end of the instrument in the portion of the luminal network that is unmapped in the preoperative model relative to the preoperative model of the mapped portion of the luminal network as the instrument is navigated through the luminal network.