| abstract |
A method comprises determining a shape of a device positioned at least partially within an anatomical passageway. The method further comprises determining a set of deformation forces for a plurality of sections of the device, where determining the set of deformation forces comprises determining a stiffness of each section of the plurality of sections of the device. The method further comprises generating a composite model indicating a position of the device relative to the anatomical passageway based on: the shape of the device, the set of deformation forces, including an effect of each section of the plurality of sections on a respective portion of the anatomical passageway, and anatomical data describing the anatomical passageway. |