Catheter With Removable Vision Probe

A medical system comprising:

• a catheter having a main lumen and a distal tip configured to be positioned in a working pose at a working location, wherein the working pose comprises a working position and a working orientation of the distal tip;
• a sensor system coupled to the catheter to generate measurement signals associated with the catheter;
• and
• a control system coupled to the sensor system to receive measurement signals, wherein the control system is operable to identify from the received measurement signals the working pose of the distal tip, and the control system is further operable to receive pre-operative imaging data and generate a virtual view of the working location.

A method comprising:

• receiving pre-operative medical imaging data for a working location;
• receiving measurement signals from a sensor system coupled to a catheter, the catheter having a main lumen and a distal tip configured to be positioned in a working pose at the working location, wherein the working pose comprising a working position and a working orientation of the distal tip;
• identifying from the received measurement signals the working pose of the distal tip;
• and
• generating a virtual view of the working location from the pre-operative medical imaging data.