Method and system for improving 2d-3d registration convergence

A method for registration of digital medical image coordinate systems, comprising the steps of:

• storing a 3D digital medical image comprising a 3D anatomical feature and a first coordinate system;
• storing a 2D digital medical image comprising a 2D anatomical feature and a second coordinate system;
• storing a placement of a digital medical object on the 3D digital medical image and the 2D digital medical image;
• determining a registration of the first coordinate system with the second coordinate system based on the match,
• wherein the robot arm is coupled o an end effector, the end effector being configured with one or more tracking markers on the surface of the end effector to be monitored when the end effector is translated and rotated in a surgical field,
• wherein the end effector include a clamp configure to be a ground link and fasten the end effector to the robot arm,
• wherein the robot arm includes a ring that is configured as a visual indicator to notify a user of different modes the system is operating under and configured to provide warnings to a user.