Systems and methods for teleoperated control of an imaging instrument

A medical imaging system further comprising:

• a teleoperated assembly including a medical instrument;
• a first imaging instrument for generating a first image of a field of view of the first imaging instrument;
• a second imaging instrument for generating a second image;
• a tracking fixture engageable along at least a portion of the second imaging instrument, the tracking fixture including one or more features configured to permit a pose of the tracking fixture to be determined, wherein the medical instrument is attachable to the tracking fixture to maintain a known configuration of the medical instrument relative to the second imaging instrument;
• a guiding member rigidly coupled to the tracking fixture, the guiding member including a channel sized for receipt of a medical tool while the tracking fixture is engaged along the portion of the second imaging instrument;
• and
• a processor configured to determine a pose of the tracking fixture based on the one or more features of the tracking fixture appearing in the first image.

A medical imaging system comprising:

• a stereoscopic endoscopic instrument for generating a first image;
• a supplemental imaging instrument for generating a second image;
• a sleeve sized to extend along at least a portion of the supplemental imaging instrument, wherein the sleeve is visible within an imaging area of the first image, the sleeve including a marking scheme visible within the first image;
• and
• a processor configured to:
• receive the first image;
• determine, based on the marking scheme visible within the first image, a pose of the sleeve relative to the stereoscopic endoscopic instrument;
• and
• modify the second image based on the determined pose of the sleeve relative to the stereoscopic endoscopic instrument.