System for fluoroscopic tracking of a catheter to update the relative position of a target and the catheter in a 3d model of a luminal network

A method for placement of a biopsy tool, comprising:

• generating a first three-dimensional (3D) reconstruction from a first plurality of images;
• tracking a position of a catheter navigated within a luminal network, wherein the catheter is configured to receive the biopsy tool;
• presenting, on a user interface, a slice of the first 3D reconstruction depicting the catheter in relation to the target;
• generating a second 3D reconstruction from a second plurality of images;
• presenting, on the user interface, a first slice of the second 3D reconstruction depicting the catheter, wherein the first slice of the second 3D reconstruction is selected from a first range of images including more than one and less than half of the second plurality of images;
• receiving, via the user interface, an indication of a location of a tip of the catheter in the first slice of the second 3D reconstruction;
• presenting, on the user interface, a second slice of the second 3D reconstruction depicting a target location, wherein the second slice of the second 3D reconstruction is selected from a second range of images including more than one and less than half of the second plurality of images;
• receiving, via the user interface, an indication of a location of the target in the second slice of the second 3D reconstruction;
• and
• updating a position of at least one of the target and the catheter in a 3D model of the luminal network.

A system for confirming placement of a biopsy tool, comprising:

• a catheter configured to be navigated within a luminal network and configured to receive a biopsy tool and configured to be placed for guiding the biopsy tool to the target;
• a navigation system configured to track a position of the catheter navigated within the luminal network;
• a display including a user interface;
• and
• a processor and one or more non-transitory storage devices storing instructions that, when executed by the processor, cause the processor to:
• generate a first three-dimensional (3D) reconstruction from a first plurality of images;
• present, on the user interface, a slice of the first 3D reconstruction depicting the catheter in relation to the target;
• generate a second 3D reconstruction from a second plurality of images;
• select a first slice of the second 3D reconstruction from a first range of images including more than one and less than half of the second plurality of images;
• present, on the user interface, the first slice of the second 3D reconstruction depicting the catheter, wherein the first slice of the second 3D reconstruction is selected from the first range of images;
• receive, via the user interface, an indication of a location of a tip of the catheter in the first slice of the second 3D reconstruction;
• present, on the user interface, a second slice of the second 3D reconstruction depicting a target location, wherein the second slice of the second 3D reconstruction is selected from a second range of images including more than one and less than half of the second plurality of images;
• receive, via the user interface, an indication of a location of the target in the second slice of the second 3D reconstruction;
• and
• update a position of at least one of the target and the catheter in a three-dimensional (3D) model of the luminal network.