System and method for lung visualization using ultrasound

A lung visualization system comprising:

• a memory storing a first three-dimensional (3D) model of a luminal network of a lung;
• a catheter including a sensor and configured to navigate the luminal network toward a target;
• a catheter sensor location detection system configured to detect a location of the catheter sensor within a patient;
• an ultrasound (US) transducer associated with the catheter and configured to transmit US waves and generate US images based on the US waves reflected from the luminal network, the US transducer positioned at a distal portion of the catheter;
• a processor configured to:
• process data from the catheter location detection system to measure a travelling distance of the catheter;
• scale the travelling distance so that the scaled travelling distance is matched to a coordinate system of the first 3D model;
• replace lower resolution portions of Computed Tomography (CT) image data from which the first 3D model was generated with the generated US images at a location of the US transducer based on the scaling of the travelling distance, yielding modified CT image data;
• generate a second 3D model from the modified CT image data, wherein the second 3D model has a higher resolution than the first 3D model;
• and
• a display device configured to display the second 3D model.