Image-based guidance for navigating tubular networks

An image-based guidance method, comprising:

• segmenting, by a processor, a region of interest in three-dimensional (3D) image data to generate a segmented region of interest;
• detecting, by the processor, a region of an endoscopic instrument in two-dimensional (2D) intraoperative image data of the region of interest and determining a centerline of the detected region of the endoscopic instrument;
• performing, by the processor, backprojection of the endoscopic instrument and the centerline to generate a 3D backprojected volume including the backprojected endoscopic instrument and the backprojected centerline;
• determining, by the processor, a device path of the endoscopic instrument based at least in part on distances from a centerline of the segmented region of interest to the backprojected centerline of the backprojected endoscopic instrument;
• and
• generating, by the processor, a visualization of the device path from a starting point to a target point.