Registration is provided for imaging with an intra-patient probe. The intra-patient probe is used for imaging or the imaging is, at least in part, of the intra-patient probe. Either approach for imaging with an intra-patient probe uses active transitions for registration. In one embodiment, one or more markers in the intra-patient probe are moveable relative to the intra-patient probe, allowing avoidance of occlusions and providing more reliable marker detection for registration. In another embodiment, a value of a parameter for imaging with at least one modality is changed so that acceptable or better registration with an image of another modality may be made. The imaging is repeated with differences, such as field-of-view or scale, allowing for registration for different types of modalities.
