Systems and methods for registration of patient anatomy

A system comprising:

• an elongated flexible medical instrument;
• a user interface;
• and
• a control system communicatively coupled to the medical instrument, the control system configured to perform operations including:
• determining a location of the medical instrument relative to an anatomic structure of a patient, wherein the anatomic structure comprises a plurality of regions;
• until a collection threshold is reached for a first region in which the medical instrument is located, collecting a plurality of measurement points for the first region of the anatomic structure of the patient as the medical instrument is inserted into and out of one or more passageways in the first region, the plurality of measurement points collected along a measurement path, wherein the collection threshold for the first region is reached when an indication is made that the medical instrument has been inserted to a sufficient depth or that a sufficient number of measurement points have been gathered in the first region;
• displaying, via the user interface, a progression towards completion of the collection of the plurality of measurement points for the first region as the medical instrument is inserted into and out of one or more passageways in the first region;
• providing, via the user interface, a notification of the completion of the collection of the plurality of measurement points for the first region;
• providing, via the user interface, user instructions to collect a plurality of measurement points for a second region of the anatomic structure of the patient;
• and
• registering the collected plurality of measurement points for the first region and the collected plurality of measurement points for the second region to a model of the anatomic structure of the patient.

A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which, when executed by one or more processors, are adapted to cause the one or more processors to perform a method comprising:

• determining a location of a medical instrument relative to an anatomic structure of a patient, wherein the anatomic structure comprises a plurality of regions;
• until a collection threshold is reached for a first region in which the medical instrument is located, collecting a plurality of measurement points for the first region of the anatomic structure of the patient as the medical instrument is inserted into and out of one or more passageways in the first region, the plurality of measurement points collected along a measurement path, wherein the collection threshold for the first region is reached when an indication is made that the medical instrument has been inserted to a sufficient depth or that a sufficient number of measurement points have been gathered in the first region;
• displaying, via a user interface, a progression towards completion of the collection of the plurality of measurement points for the first region as the medical instrument is inserted into and out of one or more passageways in the first region;
• providing, via the user interface, a notification of the completion of the collection of the plurality of measurement points for the first region;
• providing, via the user interface, user instructions to collect a plurality of measurement points for a second region of the anatomic structure of the patient;
• and
• registering the collected plurality of measurement points for the first region and the collected plurality of measurement points for the second region to a model of the anatomic structure of the patient.