Correcting medical scans

A medical scan correction method, comprising:

• tracking an instrument position of a medical instrument in a body-part of a living subject, the medical instrument having a distal end and an image sensor disposed at the distal end;
• registering a medical scan of the body-part with a coordinate frame of the medical instrument, the medical scan including a plurality of initial tissue-type indications of the body-part;
• rendering to a display, a first image including:
• a representation of the body-part and the plurality of initial tissue-type indications based on the medical scan;
• and a representation of the medical instrument disposed at the tracked instrument position in the body-part;
• rendering to the display, a second image captured at the tracked instrument position by the image sensor of a portion of the body-part;
• and
• responsively to a comparison between an appearance of a tissue in the second image of the portion of the body-part and an initial tissue-type indication of the tissue, updating the medical scan to modify the tissue-type indication associated with the tissue.

A software product, comprising a non-transient computer-readable medium in which program instructions are stored, which instructions, when read by a central processing unit (CPU), cause the CPU to:

• register a medical scan of a body-part of a living subject with a coordinate frame of a medical instrument configured to be inserted into the body-part, the medical scan including a plurality of initial tissue-type indications of the body-part;
• render to a display, a first image including:
• a representation of the body-part and the plurality of initial tissue-type indications based on the medical scan;
• and a representation of the medical instrument disposed at a tracked instrument position of the medical instrument in the body-part;
• render to the display, a second image of a portion of the body-part captured at the tracked instrument position by an image sensor of the medical instrument;
• and
• responsively to a comparison between an appearance of a tissue in the second image of the portion of the body-part and an initial tissue-type indication of the tissue, update the medical scan to modify the tissue-type indication associated with the tissue.