SYSTEMS AND METHODS FOR REGISTRATION FEATURE INTEGRITY CHECKING

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.