A system (100, 200) for medical imaging, comprising: a processor circuit in communication with a first imaging system of a first imaging modality and a second imaging system of a second imaging modality different from the first imaging modality, wherein the processor circuit is configured to: receive, from the first imaging system, a first image of a patient's anatomy in the first imaging modality; receive, from the second imaging system, a second image of the patient's anatomy in the second imaging modality; determine a first pose of the first image relative to a reference coordinate system of the patient's anatomy; determine a second pose of the second image relative to the reference coordinate system; determine co-registration data between the first image and the second image based on the first pose and the second pose; and output, to a display in communication with the processor circuit, the first image co-registered with the second image based on the co-registration data; characterized in that the processor circuit is further configured to (i) determine the first pose based on applying a first predictive network to the first image, the first predictive network trained based on a set of images of the first imaging modality and corresponding poses relative to the reference coordinate system in an imaging space of the first imaging modality; and (ii) determine the second pose based on applying a second predictive network to the second image, the second predictive network trained based on a set of images of the second imaging modality and corresponding poses relative to the reference coordinate system in an imaging space of the second imaging modality. a processor circuit in communication with a first imaging system of a first imaging modality and a second imaging system of a second imaging modality different from the first imaging modality, wherein the processor circuit is configured to: receive, from the first imaging system, a first image of a patient's anatomy in the first imaging modality; receive, from the second imaging system, a second image of the patient's anatomy in the second imaging modality; determine a first pose of the first image relative to a reference coordinate system of the patient's anatomy; determine a second pose of the second image relative to the reference coordinate system; determine co-registration data between the first image and the second image based on the first pose and the second pose; and output, to a display in communication with the processor circuit, the first image co-registered with the second image based on the co-registration data; receive, from the first imaging system, a first image of a patient's anatomy in the first imaging modality; receive, from the second imaging system, a second image of the patient's anatomy in the second imaging modality; determine a first pose of the first image relative to a reference coordinate system of the patient's anatomy; determine a second pose of the second image relative to the reference coordinate system; determine co-registration data between the first image and the second image based on the first pose and the second pose; and output, to a display in communication with the processor circuit, the first image co-registered with the second image based on the co-registration data; characterized in that the processor circuit is further configured to (i) determine the first pose based on applying a first predictive network to the first image, the first predictive network trained based on a set of images of the first imaging modality and corresponding poses relative to the reference coordinate system in an imaging space of the first imaging modality; and (ii) determine the second pose based on applying a second predictive network to the second image, the second predictive network trained based on a set of images of the second imaging modality and corresponding poses relative to the reference coordinate system in an imaging space of the second imaging modality. (i) determine the first pose based on applying a first predictive network to the first image, the first predictive network trained based on a set of images of the first imaging modality and corresponding poses relative to the reference coordinate system in an imaging space of the first imaging modality; and (ii) determine the second pose based on applying a second predictive network to the second image, the second predictive network trained based on a set of images of the second imaging modality and corresponding poses relative to the reference coordinate system in an imaging space of the second imaging modality.