The invention provides a method and system for method of determining the shape of a flexible endoscope. The invention may include registering image-space coordinates of a path of a flexible endoscope within the anatomy of a patient to patient-space coordinates of the path of the flexible endoscope within the anatomy of the patient. In some embodiments, the image space coordinates of the path of the flexible endoscope may be predicted coordinates such as, for example, a calculated centerline through a conduit-like organ, or a calculated “most likely path” of the flexible endoscope within the anatomy of the patient. In other embodiments, the path of the flexible endoscope may be an actual path determined using intra-operative images of the patients anatomy with the flexible endoscope inserted therein. The registered instrument may then be navigated to one or more items of interest for performance of the endoscopic medical procedure.
