1. A method for imager focusing based on intraoperative data, implemented on one or more computing devices, comprising: determining, using the one or more computing devices, position and orientation of an imaging plane of a focusable imager used in a medical scene based at least in part on a detected position and orientation of a first tracking device coupled to the focusable imager; determining, using the one or more computing devices, position and orientation of a medical device used in the medical scene based at least in part on a detected position and orientation of a second tracking device coupled to the medical device; determining, using the one or more computing devices, an intersection of the imaging plane and a central axis of the medical device based at least in part on the determined position and orientation of the imaging plane and the determined position and orientation of the medical device; determining, using the one or more computing devices, position and orientation of at least one object of interest in the medical scene based at least in part on the determined intersection of the imaging plane and the central axis of the medical device; determining, using the one or more computing devices, a focal adjustment for the focusable imager based at least in part on the determined position and orientation of the at least one object of interest and a focal plane of the focusable imager; and causing the focusable imager to adjust the focal plane based at least in part on the determined focal adjustment for the focusable imager.