In an example, a system is disclosed for registering an anatomical model to an anatomical structure of a patient. The system includes an anatomical measurement wire (“AMW”) configured to be navigated within the anatomical structure, the AMW comprising at least one sensor. A tracking system is configured to provide tracking data representing multiple positions of the sensor in a spatial coordinate system. A computing device is configured to generate a tracking point cloud based on the tracking data. The computing device is configured to register the predetermined anatomical model with the anatomical structure of the patient by matching the tracking point cloud with the model point cloud with respect to the predetermined anatomical model based on a quality metric.
