A medical system comprises a medical instrument system and an assembly removably coupled to the medical instrument system. The assembly is configured to operate the medical instrument system by moving it within an anatomic passageway. The medical system also comprises a sensor system coupled to the instrument system and configured to generate information including spatial data and shape data about the instrument system. The medical system also comprises a control system communicatively coupled to the instrument system, the assembly, and the sensor system. The control system receives, from the sensor system, a first set of the spatial data including position information for a distal end of the medical instrument system during a plurality of time periods. The control system also receives the shape data from the sensor system and filters the first set of the spatial data.
