Adaptive navigation technique for navigating a catheter through a body channel or cavity

A method of registering a computer model of a lumen network of a patient to a sensed representation of the lumen network of the patient, comprising:

• receiving data points from a sensor coupled to a probe configured to be navigated within the patient's lumen network;
• establishing a path of the probe within the patient's lumen network based on the received data points;
• and
• registering a path shape on a computer model of the lumen network to the probe path based on a diameter of a lumen in which the probe is located relative to a diameter of the probe.

A method for registering a computer model of a lumen network of a patient to a sensed representation of the lumen network of the patient, comprising:

• receiving data points from a sensor coupled to a probe configured to be navigated within the patient's lumen network, the data points pertaining to a location of the probe within the patient's lumen network;
• removing outlier data points from the data points received from the sensor;
• establishing a path of the probe within the patient's lumen network based on the data points having the outlier data points removed;
• and
• registering a computer model of the lumen network to the probe path based on at least one of a diameter of a lumen in which the probe is located or a diameter of the probe.

A method for registering a computer model of a lumen network of a patient to a sensed representation of the lumen network of the patient, comprising:

• receiving data points from a sensor coupled to a probe configured to be navigated within the patient's lumen network;
• establishing a path of the probe within the patient's lumen network based on data points received from the sensor;
• and
• registering a path shape on a computer model of the lumen network to the probe path based on at least one of a diameter of a lumen in which the probe is located or a diameter of the probe.