A method for registering a fluoroscopic coordinate system of reference with a magnetic coordinate system of reference defined by a magnetic field transmission pad, comprising: arranging radiopaque elements in a fixed predetermined pattern within a registration module; fixedly connecting the registration module to the magnetic field transmission pad at a predetermined location and orientation with respect to the pad; providing a calibration jig comprising magnetic sensors and further radiopaque elements; generating a fluoroscopic image of the radiopaque elements of the registration module and the radiopaque elements of the calibration jig; determining the location and orientation of the calibration jig in the magnetic coordinate system using the magnetic sensors and determining the location and orientation of the calibration jig and of the registration module in the fluoroscopic coordinate system in response to the fluoroscopic image; generating a transformation (T 1) between the magnetic coordinate system and the fluoroscope coordinate system by equating the location and orientation of the calibration jig in the magnetic coordinate system with the location and orientation of the calibration jig in the fluoroscopic coordinate system; determining a first sub-transformation (T module,fluoro) between the fluoroscopic coordinate system and a coordinate system defined by the registration module using the location and orientation of the registration module in the fluoroscopic coordinate system; determining a second sub-transformation (T magnetic,module) between the registration module coordinate system and the magnetic coordinate system using a decomposition of the transformation (T 1) into the first sub-transformation (T module,fluoro) and the second sub-transformation (T magnetic,module); generating a second fluoroscopic image of the radiopaque elements of the registration module; evaluating a fluoroscopic position of the registration module in a fluoroscopic coordinate system of reference in response to the second fluoroscopic image; updating the transformation (T 1), wherein updating the transformation (T 1) comprises, in response to a change in a registration of the coordinate systems, updating the first sub-transformation (T module,fluoro) while maintaining the second sub-transformation (T magnetic,module) unchanged. arranging radiopaque elements in a fixed predetermined pattern within a registration module; fixedly connecting the registration module to the magnetic field transmission pad at a predetermined location and orientation with respect to the pad; providing a calibration jig comprising magnetic sensors and further radiopaque elements; generating a fluoroscopic image of the radiopaque elements of the registration module and the radiopaque elements of the calibration jig; determining the location and orientation of the calibration jig in the magnetic coordinate system using the magnetic sensors and determining the location and orientation of the calibration jig and of the registration module in the fluoroscopic coordinate system in response to the fluoroscopic image; generating a transformation (T 1) between the magnetic coordinate system and the fluoroscope coordinate system by equating the location and orientation of the calibration jig in the magnetic coordinate system with the location and orientation of the calibration jig in the fluoroscopic coordinate system; determining a first sub-transformation (T module,fluoro) between the fluoroscopic coordinate system and a coordinate system defined by the registration module using the location and orientation of the registration module in the fluoroscopic coordinate system; determining a second sub-transformation (T magnetic,module) between the registration module coordinate system and the magnetic coordinate system using a decomposition of the transformation (T 1) into the first sub-transformation (T module,fluoro) and the second sub-transformation (T magnetic,module); generating a second fluoroscopic image of the radiopaque elements of the registration module; evaluating a fluoroscopic position of the registration module in a fluoroscopic coordinate system of reference in response to the second fluoroscopic image; updating the transformation (T 1), wherein updating the transformation (T 1) comprises, in response to a change in a registration of the coordinate systems, updating the first sub-transformation (T module,fluoro) while maintaining the second sub-transformation (T magnetic,module) unchanged.