Methods and Systems for Body Lumen Medical Device Location

A system for locating a medical device in a body lumen, comprising:

• a first flexible elongate instrument comprising a plurality of imaging markers;
• a location information sensor disposed at the first flexible elongate instrument or at a second flexible elongate instrument configured for relative movement with respect to the first flexible elongate instrument;
• a processor configured to:
• establish a reference coordinate system based on the plurality of imaging markers, the plurality of imaging markers being visible in a medical image comprising the first flexible elongate instrument disposed in a body lumen,
• receive diagnostic scan or therapeutic delivery information at a plurality of locations of the body lumen from the first or second flexible elongate instrument, and
• correlate the diagnostic scan or therapeutic delivery information with the imaging markers for the plurality of locations based on the reference coordinate system and location information as sensed by the location information sensor;
• and
• a display configured to display a composite image comprising the correlated diagnostic scan or therapeutic delivery information and the imaging markers.