Systems and methods for providing surgical guidance

A method for guiding a surgeon, comprising:

• receiving an image of a passageway system associated with an organ including one or more passageways and a structure of interest (SOI);
• determining a location of the SOI relative to a reconstructed passageway system based on a location of the SOI relative to the passageway system in the received image;
• and
• receiving a plurality of images and performing for each image of the plurality of images:
• determining a location of the SOI relative to each image based on the location of the SOI relative to the reconstructed passageway system and a relationship between each image and the reconstructed passageway system;
• producing an image object that represents the SOI;
• and
• overlaying the image object on each image at the determined location of the SOI relative to each image.

A system comprising:

• a localization system configured to determine a location of a plurality of passageways in a passageway system associated with an organ;
• an imaging device configured to generate a stream of intraoperative images;
• and
• a controller configured to:
• reconstruct the passageway system based on the location of the plurality of passageways;
• determine, based on a preoperative image of a passageway system and a structure of interest (SOI), a location of the SOI relative to the passageway system in the preoperative image;
• determine, based on the location of the SOI relative to the passageway system in the preoperative image, a location of the SOI relative to the reconstructed passageway system;
• receive, from the imaging device, an intraoperative image;
• determine a location of the imaging device relative to a location of the reconstructed passageway system;
• determine a location of the SOI relative to the intraoperative image based on the location of the SOI relative to the reconstructed passageway system and the determined location of the imaging device relative to the location of the reconstructed passageway system;
• and
• overlay an image object representing the SOI on the intraoperative image at the determined location of the SOI relative to the intraoperative image.