Electromagnetic and camera-guided navigation

A system, comprising:

• an extended working channel navigable within a patient's anatomy;
• a catheter selectively receivable within the extended working channel, the catheter including a camera configured to capture images of a patient's anatomy;
• a biopsy tool selectively receivable within the extended working channel;
• and
• a workstation operably coupled to the catheter and the biopsy tool, the workstation including a memory and a processor, the memory storing instructions, which when executed by the processor cause the processor to:
• detect proximity of the catheter to target tissue within the patient's anatomy;
• generate a radius extending from a center of the target tissue;
• receive a plurality of images captured by the camera at a plurality of locations within extents of the generated radius in the patient's anatomy;
• identify coordinates of the catheter at each respective location at which each received image of the plurality of images was captured;
• generate, using the received plurality of images, a 3D representation of the patient's anatomy;
• identify coordinates of the biopsy tool within the patient's anatomy;
• identify a position within the generated 3D representation corresponding to the identified coordinates of the biopsy tool;
• and
• display the 3D representation from a perspective corresponding to the identified coordinates of the biopsy tool.

A method of performing a surgical procedure, comprising:

• detecting proximity of a catheter to target tissue within a patient's anatomy;
• generating a radius extending from a center of the target tissue;
• capturing a plurality of images at a plurality of locations within extents of the generated radius in the patient's anatomy, wherein the plurality of images is captured using a camera disposed on the catheter;
• identifying coordinates of the catheter at each respective location at which each received image of the plurality of images was captured;
• withdrawing the catheter from the patient's anatomy;
• advancing a biopsy tool into the patient's anatomy;
• identifying coordinates of the biopsy tool within the patient's anatomy;
• identifying an image of the plurality of received images having coordinates corresponding to the identified coordinates of the biopsy tool;
• and
• displaying the identified image.