Methods and systems for instrument tracking and navigation within luminal networks

A method for navigating an instrument in a luminal network of a body, the method comprising:

• receiving, from a position sensor, first position sensor data corresponding to an instrument positioned at a first point in a first portion of a luminal network that is mapped by a preoperative model;
• determining a first estimated instrument position based on the first position sensor data;
• determining a second estimated instrument position based on the first position sensor data and data not received from the position sensor;
• determining a location transform based on a difference between the first estimated instrument position and the second estimated instrument position;
• receiving, from the position sensor, second position sensor data corresponding to the instrument positioned at a second point in a second portion of the luminal network that is not mapped by the preoperative model;
• determining a third estimated instrument position based on the second position sensor data;
• adjusting the third estimated instrument position using the location transform;
• determining a fourth estimated instrument position;
• adjusting the fourth estimated instrument position using the location transform;
• and
• outputting the adjusted instrument position.

A robotic system, comprising:

• an instrument having an elongate body and a position sensor disposed on the elongate body;
• an instrument positioning device attached to the instrument and configured to move the instrument;
• one or more processors;
• and
• one or more computer-readable memories storing instructions that, when executed by the one or more processors, cause the robotic system to perform operations comprising:
• receiving, from a position sensor, first position sensor data corresponding to an instrument positioned at a first point in a first portion of a luminal network that is mapped by a preoperative model;
• determining a first estimated instrument position based on the first position sensor data;
• determining a second estimated instrument position based on the first position sensor data and data not received from the position sensor;
• determining a location transform based on a difference between the first estimated instrument position and the second estimated instrument position;
• receiving, from the position sensor, second position sensor data corresponding to the instrument positioned at a second point in a second portion of the luminal network that is not mapped by the preoperative model;
• determining a third estimated instrument position based on the second position sensor data;
• adjusting the third estimated instrument position using the location transform;
• determining a fourth estimated instrument position;
• adjusting the fourth estimated instrument position using the location transform;
• and
• outputting the adjusted instrument position.