Systems and methods for data filtering of passageway sensor data

A medical system comprising:

• an elongated flexible device;
• a tracking system that determines positional data of the elongated flexible device;
• an actuator system that provides motion of the elongated flexible device within a plurality of anatomical passageways of a patient, the motion including insertion and retraction within the plurality of anatomical passageways;
• and
• one or more hardware processors coupled to the tracking system and the actuator system, the one or more hardware processors being configured to:
• record the positional data, wherein the positional data comprises a first plurality of positional data points recorded during a first insertion of the elongated flexible device into a first passageway and a second plurality of positional data points recorded during a first retraction of the elongated flexible device within the first passageway;
• associate the first plurality of positional data points with the second plurality of positional data points by labeling the first plurality of positional data points and the second plurality of positional data points as first common passageway positional data points;
• and
• register the positional data with a model of the plurality of anatomical passageways of the patient, wherein the registering includes matching the first common passageway positional data points with corresponding first common passageway model data points.

A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a device are adapted to cause the one or more processors to perform operations including:

• driving, via a driving system, a flexible elongate device along a plurality of passageways;
• recording, via one or more hardware processors, positional data using one or more sensors coupled to the flexible elongate device, wherein the positional data includes a first plurality of positional data points recorded during a first insertion of the flexible elongate device into a first passageway and a second plurality of positional data points recorded during a first retraction of the flexible elongate device within the first passageway;
• associating, via the one or more hardware processors, the first plurality of positional data points with the second plurality of positional data points by labeling the first plurality of positional data points and the second plurality of positional data points as first common passageway positional data points;
• and
• registering, via the one or more hardware processors, the positional data with a model of the plurality of passageways, wherein the registering includes matching the first common passageway positional data points with corresponding first common passageway model data points.