Abstract: Methods of respiration compensation including detecting a position of a catheter proximate a target within a patient, performing a local registration to update a displayed relative position and orientation of the catheter and the target in a three-dimensional model, detecting movement of a plurality of sensors, determining a respiration waveform from the detected movement of the plurality of sensors, and indicating on a user-interface a period during which advancement of a biopsy or therapy tool from the catheter is most likely to intersect the target, wherein the period corresponds to a portion of the respiration waveform during which the movement of the plurality of sensors is within a desired range.

Abstract: Methods of respiration compensation including detecting a position of a catheter proximate a target within a patient, performing a local registration to update a displayed relative position and orientation of the catheter and the target in a three-dimensional model, detecting movement of a plurality of sensors, determining a respiration waveform from the detected movement of the plurality of sensors, and indicating on a user-interface a period during which advancement of a biopsy or therapy tool from the catheter is most likely to intersect the target, wherein the period corresponds to a portion of the respiration waveform during which the movement of the plurality of sensors is within a desired range.