A system and method of checking registration for a surgical system, the surgical system including fiducials and tracking markers, may include: using the fiducials and the tracking markers to register a three-dimensional (3D) imaging space of the surgical system with a 3D tracking space of the surgical system； using a tracking fixture of an X-ray imaging system to register an X-ray imaging space of the X-ray imaging system to the 3D tracking space； obtaining a two-dimensional (2D) X-ray image corresponding to the 3D tracking space； identifying a point of interest in the 2D X-ray image； determining a vector in the 3D tracking space that passes through the point of interest； and/or evaluating the registration of the 3D imaging space with the 3D tracking space based on a location, an orientation, or the location and the orientation of the vector in the 3D tracking space.
