System and methods for tracking robotically controlled medical instruments

A robotic system configured to manipulate a tool within a patient's anatomy, the system comprising:

• the tool comprising a shape sensor that senses a shape of at least a portion of the tool while within the patient's anatomy;
• a robotic drive system comprising at least one actuator, the robotic drive system coupled to the tool and configured to articulate the tool within the patient's anatomy and
• a controller configured to register a sensor reference frame and a 3-dimensional (3D) model reference frame based on the shape of the tool and features of a 3D model of the patient's anatomy, the controller also being configured to direct the robotic drive system based on the registration.

A system configured to control a medical device within in a patient's anatomy for performing a procedure in the patient's anatomy, the system comprising:

• a user input device;
• an actuator configured to articulate the medical device with respect to the patient's anatomy, and
• a controller configured to receive a signal from a shape sensor positioned on the medical device that can sense a shape of at least a portion of the medical device while in the patient's anatomy, the controller also configured to register a sensor reference frame and a 3-dimensional (3D) model reference frame based on the shape of the medical device and features of a 3D model of the patient's anatomy.