A system for tracking location of an interventional medical device (101, 201) in an interventional medical procedure, comprising: an interface to an optical shape sensing device which has a shape that conforms to a shape of the interventional medical device (101, 201) during the interventional medical procedure; and a controller comprising a memory that stores instructions and a processor that executes the instructions, wherein, when executed by the processor, the instructions cause the system to: identify a shape of the optical shape sensing device using optical shape sensing signals received from the optical shape sensing device via the interface; identify the interventional medical device (101, 201) in a first coordinate space of a first imaging system that images the interventional medical device (101, 201) in a first imaging mode during the interventional medical procedure, based on identifying the shape of the optical shape sensing device; register the interventional medical device (101, 201) to the first coordinate space; identify the interventional medical device (101, 201) in a second coordinate space of a second imaging system that images the interventional medical device (101, 201) in a second imaging mode during the interventional medical procedure; register the first coordinate space of the first imaging system to the second coordinate space of the second imaging system; segment the interventional medical device (101, 201) in the second coordinate space to obtain a segmented representation of the interventional medical device (101, 201) in the second coordinate space; register the interventional medical device (101, 201) to the second coordinate space using the segmented representation of the interventional medical device (101, 201); and re-register the interventional medical device (101, 201) to the first coordinate space based on registering the interventional medical device (101, 201) to the second coordinate space. an interface to an optical shape sensing device which has a shape that conforms to a shape of the interventional medical device (101, 201) during the interventional medical procedure; and a controller comprising a memory that stores instructions and a processor that executes the instructions, wherein, when executed by the processor, the instructions cause the system to: identify a shape of the optical shape sensing device using optical shape sensing signals received from the optical shape sensing device via the interface; identify the interventional medical device (101, 201) in a first coordinate space of a first imaging system that images the interventional medical device (101, 201) in a first imaging mode during the interventional medical procedure, based on identifying the shape of the optical shape sensing device; register the interventional medical device (101, 201) to the first coordinate space; identify the interventional medical device (101, 201) in a second coordinate space of a second imaging system that images the interventional medical device (101, 201) in a second imaging mode during the interventional medical procedure; register the first coordinate space of the first imaging system to the second coordinate space of the second imaging system; segment the interventional medical device (101, 201) in the second coordinate space to obtain a segmented representation of the interventional medical device (101, 201) in the second coordinate space; register the interventional medical device (101, 201) to the second coordinate space using the segmented representation of the interventional medical device (101, 201); and re-register the interventional medical device (101, 201) to the first coordinate space based on registering the interventional medical device (101, 201) to the second coordinate space. identify a shape of the optical shape sensing device using optical shape sensing signals received from the optical shape sensing device via the interface; identify the interventional medical device (101, 201) in a first coordinate space of a first imaging system that images the interventional medical device (101, 201) in a first imaging mode during the interventional medical procedure, based on identifying the shape of the optical shape sensing device; register the interventional medical device (101, 201) to the first coordinate space; identify the interventional medical device (101, 201) in a second coordinate space of a second imaging system that images the interventional medical device (101, 201) in a second imaging mode during the interventional medical procedure; register the first coordinate space of the first imaging system to the second coordinate space of the second imaging system; segment the interventional medical device (101, 201) in the second coordinate space to obtain a segmented representation of the interventional medical device (101, 201) in the second coordinate space; register the interventional medical device (101, 201) to the second coordinate space using the segmented representation of the interventional medical device (101, 201); and re-register the interventional medical device (101, 201) to the first coordinate space based on registering the interventional medical device (101, 201) to the second coordinate space.