Apparatuses and methods for navigation in and local segmentation extension of anatomical treelike structures

A method of extending a segmentation of an image using navigation data from a navigation system, the method comprising:

• tracking, with the navigation system, at least one of a traveled path, a position, and a trajectory of a navigated instrument relative to an initial segmentation of 3D image data including an initial treelike structure to create navigation data;
• and
• extending the initial segmentation of the 3D image data using the navigation data, wherein extending the initial segmentation comprises:
• extracting a region of interest from the 3D image data to create a sub-image;
• extracting connected components based on spillage-constrained region growing using seed points from the sub-image;
• pruning the extracted components to discard components not likely to be connected to the initial treelike structure and keep only candidate components likely to be a valid sub-tree of the initial treelike structure;
• and
• connecting the candidate components to the initial treelike structure.