Abstract: Methods and apparatus for generating network of endoluminal surfaces by defining a set of medial axes for a tubular structure, defining a series of cross sections along medial axis in the set of medial axes, generating a connectivity graph of the medial axes, defining multiple surface representations based upon the graph of the medial axes and the cross sections, computing a volume defined by a first one of the surface representations, defining a partition of the medial axis, cross-sections, surface and/or volume representations, and outputting the network of endoluminal surfaces.

Abstract: A medical procedure training system includes a mannequin having internal and external anatomical characteristics, such as body contour and organs, derived from medical imaging of an actual patient. The system can includes an instrument tracking system for monitoring the position of an instrument in relation to the mannequin anatomical components, which can be registered in relation to a reference point.