Systems and methods related to elongate devices

A medical system comprising:

• a catheter;
• and
• a processor configured to:
• receive image data captured by an imaging device, the imaging device provided by the catheter and positioned within a patient anatomy, the image data including a target structure within the patient anatomy, the image data associated with an image reference frame;
• transform a location of the target structure in the image reference frame to an updated location in a model reference frame, the model reference frame associated with an anatomic model of the patient anatomy;
• determine a catheter deployment location based on the image data captured by the imaging device;
• and
• display a virtual visualization image including:
• an image of the target structure at the updated location;
• and
• a graphical indicator identifying the catheter deployment location.

A method comprising:

• receiving image data captured by an imaging device, the imaging device provided by a catheter and positioned within a patient anatomy, the image data including a target structure within the patient anatomy, the image data associated with an image reference frame;
• transforming a location of the target structure in the image reference frame to an updated location in a model reference frame, the model reference frame associated with an anatomic model of the patient anatomy;
• determining a catheter deployment location based on the image data captured by the imaging device;
• and
• displaying a virtual visualization image including:
• an image of the target structure at the updated location;
• and
• a graphical indicator identifying the catheter deployment location.