Systems and methods for intraoperative segmentation

A system comprising:

• a medical instrument including a sensing tool;
• and
• a processing unit including one or more processors, wherein the processing unit is configured to:
• apply a segmentation function using a first seed to a three-dimensional image of a patient anatomy to create a model;
• receive position data from the medical instrument while navigating the patient anatomy;
• register a position of the medical instrument with the model;
• receive data related to the patient anatomy from the sensing tool;
• and
• update the model in response to detecting a difference between the model and the patient anatomy, wherein updating the model includes reapplying the segmentation function using a second seed corresponding to a passageway of the patient anatomy that is not present within the model, and wherein detecting the difference between the model and the patient anatomy includes analyzing temporal information obtained from shape data generated by the sensing tool while the medical instrument traverses portions of the patient anatomy not represented by the model.