Systems and methods for navigation based on ordered sensor records

A system comprising:

• a processor configured for:
• receiving a model of an anatomical passageway formation;
• receiving a set of ordered sensor records for a medical instrument equipped with a sensor, the set providing a path history of the medical instrument, and wherein the set includes:
• sensor data recorded along a path between a first sensor record and a second sensor record, wherein the first and second sensor records are in a first anatomical passageway of the anatomical passageway formation;
• and
• sensor data of a third sensor record that is in a second anatomical passageway of the anatomical passageway formation, the second anatomical passageway being different from the first anatomical passageway;
• based on the third sensor record being in the second anatomical passageway, filtering the received set of ordered sensor records by creating a subset of the ordered sensor records that includes the sensor data recorded along the path between the first and second sensor records in the first anatomical passageway and excludes the sensor data of the third sensor record that is in the second anatomical passageway;
• registering the medical instrument with the model of the anatomical passageway formation based on the subset of the ordered sensor records;
• and
• displaying a virtual visualization image in a display system, the virtual visualization image being based on the registering of the medical instrument with the model of the anatomical passageway formation and depicting a rendered view of the model of the anatomical passageway formation from a perspective of the medical instrument within the model of the anatomical passageway formation.