Abstract: An image acquisition system includes a first imaging modality device (102) configured to acquire images from a subject from a position. A second imaging modality device (124) is configured to acquire images of the subject from a plurality of poses selected based upon the position of the first imaging modality device and in accordance with criteria to provide a best pose or poses. A planning module (115) is stored in memory and is configured to determine at least one trajectory that permits the best pose or poses of the second imaging modality device to be achieved to acquire, in cooperation with the first imaging modality device, an image or images of the subject.