Abstract: A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.

Abstract: A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.

Abstract: Systems and methods for registration feature integrity checking include a repositionable arm configured to support a repositionable device and a control unit. The control unit is configured to receive a feature set including one or more features extracted from one or more images of a repositionable structure obtained from an imaging device, determine an expected feature corresponding to an extracted feature in the feature set based on one or more models of the repositionable structure, determine an error between the extracted feature and the expected feature, determine whether to remove the extracted feature from the feature set based on the determined error, remove the extracted feature from the feature set in response to determining that the extracted feature should be removed from the feature set, and provide the feature set to a registration module. The repositionable structure includes the repositionable arm and/or the repositionable device.

Abstract: A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.