A method , comprising: receiving information corresponding to a preexisting registration of an image space to a patient space; receiving information about a pose of each of a plurality of fiducials positioned on or within a patient; causing an imaging device to generate a single image of a portion of the patient, the single image depicting at least a portion of each of the plurality of fiducials; determining , based on the information about the pose of each of the plurality of fiducials positioned on or within a patient and the single image, a pose of one or more anatomical elements represented in the single image; and updating the preexisting registration of the image space to the patient space based on the determined pose of the one or more anatomical elements by: comparing the determined pose of the one or more anatomical elements to a predetermined pose of the one or more anatomical elements, determining whether the determined pose of the one or more anatomical elements and the predetermined pose of the one or more anatomical elements do not match in value and/or are outside of a tolerance value, when it is determined that the determined pose and the predetermined pose do not match in value and/or are outside of a tolerance value, updating the registration of the image space to the patient space by mapping the determined pose of the one or more anatomical elements to the patient space, and updating a surgical plan to reflect the changed pose of the one or more anatomical elements relative to the patient space. receiving information corresponding to a preexisting registration of an image space to a patient space; receiving information about a pose of each of a plurality of fiducials positioned on or within a patient; causing an imaging device to generate a single image of a portion of the patient, the single image depicting at least a portion of each of the plurality of fiducials; determining , based on the information about the pose of each of the plurality of fiducials positioned on or within a patient and the single image, a pose of one or more anatomical elements represented in the single image; and updating the preexisting registration of the image space to the patient space based on the determined pose of the one or more anatomical elements by: comparing the determined pose of the one or more anatomical elements to a predetermined pose of the one or more anatomical elements, determining whether the determined pose of the one or more anatomical elements and the predetermined pose of the one or more anatomical elements do not match in value and/or are outside of a tolerance value, when it is determined that the determined pose and the predetermined pose do not match in value and/or are outside of a tolerance value, updating the registration of the image space to the patient space by mapping the determined pose of the one or more anatomical elements to the patient space, and updating a surgical plan to reflect the changed pose of the one or more anatomical elements relative to the patient space. comparing the determined pose of the one or more anatomical elements to a predetermined pose of the one or more anatomical elements, determining whether the determined pose of the one or more anatomical elements and the predetermined pose of the one or more anatomical elements do not match in value and/or are outside of a tolerance value, when it is determined that the determined pose and the predetermined pose do not match in value and/or are outside of a tolerance value, updating the registration of the image space to the patient space by mapping the determined pose of the one or more anatomical elements to the patient space, and updating a surgical plan to reflect the changed pose of the one or more anatomical elements relative to the patient space. <EOS>