Electromagnetic dynamic registration for device navigation

A system for generating a registration between impedance and magnetic based coordinate systems in a chamber of a heart, comprising:

• a first catheter that includes an electrode and a first and second magnetic position sensor;
• a processor and memory storing non-transitory computer-readable instructions, executable by the processor to:
• compute a location of a number of first fiducial points for a volume of interest in the chamber, wherein the first fiducial points include impedance locations of the electrode in an impedance based coordinate system and magnetic locations of the first and second magnetic position sensors in a magnetic based coordinate system;
• transform the impedance location of the electrode in the impedance based coordinate system into a transformed impedance location of the electrode in the magnetic based coordinate system;
• determine a magnetic location of the electrode in the magnetic based coordinate system;
• determine whether an impedance shift exists between the transformed impedance location of the electrode in the magnetic based system and the magnetic location of the electrode in the magnetic based system;
• generate an electromagnetic dynamic registration between the impedance based coordinate system and the magnetic based coordinate system based on the impedance shift;
• compute a location of a number of second fiducial points outside the volume of interest, wherein the number of second fiducial points include impedance locations of the electrode in the impedance based coordinate system and magnetic locations of the first and second magnetic position sensors in the magnetic based coordinate system;
• and
• update the electromagnetic dynamic registration based on the second fiducial points via a smoothing function that utilizes an affine regularization.