System and method for inter-arm registration

A method of operating a computer-assisted system, the method comprising:

• receiving, by a control unit from an imaging device, image data of an instrument, the instrument mounted to a repositionable arm of the computer-assisted system;
• determining, by the control unit, an observed geometric property of a feature set of the instrument based on the image data, the feature set comprising at least one feature;
• determining, by the control unit, an expected geometric property of the feature set based on at least kinematic data of the repositionable arm;
• determining, by the control unit, a difference between the observed geometric property and the expected geometric property;
• updating, by the control unit based on the difference, a registration transform associated with the instrument;
• and
• controlling, by the control unit, the instrument using the updated registration transform.

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

• receiving, from an imaging device, image data of an instrument, the instrument mounted to a repositionable arm of the computer-assisted device;
• determining an observed geometric property of a feature set of the instrument based on the image data, the feature set comprising at least one feature;
• determining an expected geometric property of the feature set based on at least kinematic data of the repositionable arm;
• determining a difference between the observed geometric property and the expected geometric property;
• updating, based on the difference, a registration transform associated with the instrument;
• and
• controlling the instrument using the updated registration transform.