Systems and methods of registration for image-guided surgery

A system comprising:

• a catheter;
• a display system;
• and
• a control system in communication with the catheter and the display system, the control system including a processor configured for:
• accessing a set of model points of a model of one or more passageways of a patient;
• detecting a point collection condition in image data obtained from an image-capture device of the catheter based upon machine vision;
• automatically initiating collection of a set of measured points based on detection of the point collection condition in the image data obtained from the image-capture device;
• performing a point set registration algorithm using the set of model points of the model of one or more passageways of the patient and the set of measured points to produce a registered set of model points;
• and
• displaying a visual representation of the registered set of model points in a user interface provided by the display system.