CPC A61B 5/066 (2013.01) [A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/74 (2016.02); A61B 2017/00809 (2013.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/256 (2016.02); A61B 2034/258 (2016.02); A61B 2034/301 (2016.02); A61B 2090/306 (2016.02); A61B 2090/309 (2016.02); A61B 2090/3614 (2016.02); A61B 2090/365 (2016.02); A61B 2090/368 (2016.02); A61B 90/37 (2016.02); A61B 2090/372 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/502 (2016.02); A61B 2217/005 (2013.01); A61B 2217/007 (2013.01)] | 20 Claims |
1. A method of navigating a medical instrument, comprising:
determining, based on data received from at least one sensor of the medical instrument, a position and orientation of a distal end of the medical instrument with respect to a model of a mapped portion of a luminal network;
causing, on at least a portion of a display, a rendering of the model, a position of an object with respect to the model, and the position and orientation of the distal end of the medical instrument, wherein the rendering is based on a viewpoint directed at the object and different from a viewpoint of the medical instrument; and
causing, on at least a portion of the display, a rendering of a modified view, wherein the modified view comprises a rotated view of the model, the position of the object, and the position and orientation of the distal end of the medical instrument, with the object as a center of rotation.
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