System and method for anatomical markers

A method of controlling motion of a medical tool, the method comprising:

• obtaining one or more first images using a first imaging modality;
• determining first coordinates of one or more anatomical markers relative to an anatomy of a patient based on content of the first images;
• obtaining one or more second images using a second imaging modality;
• determining second coordinates of the one or more anatomical markers relative to the medical tool based on content of the second images;
• and
• registering the medical tool to the anatomy of the patient based on the first and second coordinates.

A computer-assisted medical device comprising:

• a control unit comprising one or more processors;
• a first articulated arm comprising one or more first joints;
• a second articulated arm comprising one or more second joints;
• a first imaging device mounted to a distal end of the first articulated arm;
• and
• a medical tool mounted to a distal end of the second articulated arm;
• wherein the control unit:
• obtains one or more first images from a second imaging device, the second imaging device using a first imaging modality;
• determines first coordinates of one or more anatomical markers relative to an anatomy of a patient based on content of the first images;
• obtains one or more second images using a second imaging modality;
• determines second coordinates of the one or more anatomical markers relative to the medical tool based on content of the second images;
• and
• registers the medical tool to the anatomy of the patient based on the first and second coordinates and kinematic models of the first and second articulated arms.

A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a medical device are adapted to cause the one or more processors to perform a method comprising:

• obtaining one or more first images using a first imaging modality;
• determining first coordinates of one or more anatomical markers relative to an anatomy of a patient based on content of the first images;
• obtaining one or more second images using a second imaging modality;
• determining second coordinates of the one or more anatomical markers relative to a medical tool coupled to the medical device based on content of the second images;
• and
• registering the medical tool to the anatomy of the patient based on the first and second coordinates.