Systems and methods for guidance of intraluminal devices within the vasculature

A system for guiding an instrument within a vascular network of a patient, the system comprising an electronic storage medium storing instructions configured to cause a processor to:

• receive a medical image of the patient from a medical imaging device;
• identify, within the medical image, a distal tip of the instrument and a direction of the distal tip of the instrument;
• determine a current position and a current direction of the distal tip with respect to the medical image based on the identified distal tip and the identified direction;
• identify, within the medical image, one or more vessels of the vascular network of the patient;
• determine, based on (i) the current position the current direction of the distal tip of the instrument, (ii) the identified one or more vessels of the vascular network, and (iii) a target location, a vessel roadmap from the current position to the target location, wherein the vessel roadmap comprises a sequence of at least some of the identified one or more vessels that extends from the current position to the target location;
• determine a waypoint path for the distal tip of the instrument based at least in part on the determined current position of the distal tip, the current direction of the distal tip, and the vessel roadmap, wherein the waypoint path comprises a plurality of waypoints positioned along the vessel roadmap;
• cause display of the waypoint path overlaid onto the medical image on a graphical user interface (GUI) on a user device;
• receive, from the GUI of the user device, input data comprising a confirmation or modification of a next waypoint of the waypoint path;
• generate at least one current trajectory command based on the determined current position, the determined current direction, the next waypoint, and the input data, the at least one current trajectory command for moving the instrument through the vascular network from the current position toward the next waypoint;
• and
• transmit the at least one trajectory command to a robotic medical system coupled to the instrument, whereby the robotic medical system executes the at least one trajectory command to semi-autonomously advance the distal tip of the instrument through the vascular network of the patient to reach a new position within the vascular network.