Abstract: Examples of the disclosure include methods and systems for calibrating a C-arm imaging device for surgical navigation. Calibrating the C-arm imaging device may include, for a plurality of positions of the C-arm imaging device, determining the position of the C-arm imaging device, receiving an image of a calibration fixture from the C-arm imaging device, determining the position of the calibration fixture and a tracking array positioned on the C-arm imaging device, determining intrinsic parameters using the image and the position of the calibration fixture, and determining extrinsic parameters using the position of the tracking array relative to a detector of the C-arm imaging device. Calibrating the C-arm imaging device may include modeling parameters for the C-arm imaging device and iteratively tuning the model.