Systems and methods for deformation compensation using shape sensing

1. A medical system comprising:

a surgical device including a tracking system disposed along a length of an elongate flexible body of the surgical device; and

a processor configured for:

receiving a first model of anatomic passageways of a patient anatomy, the first model including a set of model passageways representing a proximal branch of the patient anatomy connected to a distal branch of the patient anatomy;

receiving from the tracking system a shape of the elongate flexible body of the surgical device positioned within the proximal branch and the distal branch of the patient anatomy;

determining, based on the shape of the elongate flexible body, a set of forces acting on the patient anatomy in response to the surgical device positioned within the proximal branch and the distal branch;

generating a second model of the patient anatomy by deforming the first model based on the determined set of forces; and

displaying a representation of the second model and a representation of the elongate flexible body as positioned within the second model.

2. The medical system of claim 1 , wherein the tracking system includes an optical fiber shape sensor disposed along the length of the elongate flexible body.

3. The medical system of claim 1 wherein the tracking system includes a plurality of electromagnetic sensors disposed along the length of the elongate flexible body.

4. The medical system of claim 1 wherein displaying the second model and the representation of the elongate flexible body includes displaying the representation of the elongate flexible body as extending within a deformed set of the model passageways representing the proximal and distal branches of the patient anatomy.

5. The medical system of claim 1 wherein the processor is further configured for fitting a sampling of points along the shape of the elongate flexible body of the surgical device to the first model wherein the tracking system disposed along the length of the elongate flexible body produces the sampling of points.

6. The medical system of claim 1 wherein determining the set of forces includes determining a set of deformation forces exerted by the elongate flexible body on at least one anatomic passageway.

7. The medical system of claim 1 wherein determining the set of forces includes determining a set of restorative forces that bias the anatomic passageways toward an original shape.

8. The medical system of claim 1 wherein determining the set of forces includes determining a set of maintenance forces, each maintenance force of the set of maintenance forces represented as a joint torque acting opposite to a deformation angle at a connection point of two of the anatomic passageways.

9. The medical system of claim 1 wherein determining the set of forces includes determining a weighted sum of a set of deformation, restorative, and maintenance forces.

10. The medical system of claim 1 wherein determining the set of forces includes determining elastic properties for the anatomic passageways.

11. The medical system of claim 10 elastic properties for the anatomic passageways are determined from tissue densities obtained from a set of anatomical data used to generate the first model.

12. The medical system of claim 1 wherein the processor is further configured for:

determining a location of a distal end of the representation of the elongate flexible body relative to the second model; and

generating a virtual navigation view of the anatomic passageways based on the determined location of a distal end of the representation of the elongate flexible body.

13. A medical system comprising:

a surgical device; and

a processor configured for:

generating a first model of a plurality of branched anatomical passageways from stored anatomical data describing a patient anatomy recorded while the branched anatomical passageways are in a first state of an alternating movement, wherein the plurality of branched anatomical passageways includes a proximal branch connected to a distal branch;

generating a second model of the plurality of branched anatomical passageways from stored anatomical data describing a patient anatomy recorded while the branched anatomical passageways are in a second state of the alternating movement;

generating a first image of the surgical device in a first shape extending within the proximal branch and the distal branch of the first model of the plurality of branched anatomical passageways when the branched anatomical passageways are in the first state;

generating a second image of the surgical device in a second shape extending within the proximal branch and the distal branch of the second model of the plurality of branched anatomical passageways when the branched anatomical passageways are in the second state; and

determining, based on the first shape, a set of forces acting on the branched anatomical passageways in response to the surgical device extending within the proximal branch and the distal branch.

14. The medical system of claim 13 wherein the surgical device includes a tracking system disposed along a length of an elongate flexible body of the surgical device and wherein the processor is further configured for receiving, from the tracking system, shape information for determining the first shape.

15. The medical system of claim 14 , wherein the tracking system includes an optical fiber shape sensor disposed along the length of the elongate flexible body.

16. The medical system of claim 14 wherein the tracking system includes a plurality of electromagnetic sensors disposed along the length of the elongate flexible body.

17. The medical system of claim 13 wherein the branched anatomical passageways are bronchial passageways and the first state is a state of expiration and the second state is a state of inspiration.

18. The medical system of claim 13 wherein the branched anatomical passageways are cardiac passageways and the first state is a diastole phase of a cardiac cycle and the second state is a systole phase of the cardiac cycle.

19. The medical system of claim 13 wherein the processor is further configured for:

generating a third image of the surgical device in a refined shape positioned within a refined model of the plurality of branched anatomical passageways when the branched anatomical passageways are in a third state, wherein the refined shape is obtained by combining the first and second shapes and the refined model is obtained by combining the stored anatomical data from the first and second states.

20. The medical system of claim 13 wherein determining the set of forces includes determining a set of deformation forces exerted by the surgical device on at least one anatomic passageway.