1. A system for registering probe space to image space, comprising: an image collection platform operatively connected to the probe, the probe having a tracking marker affixed thereon; a calibration jig containing at least one calibration pattern and having a tracking marker affixed thereon; a three-dimensional position tracker operatively coupled to the image collection platform, comprising: a processor; a three-dimensional position sensor operatively coupled to the processor; a memory coupled to the processor, storing: an image of at least one calibration pattern; first instructions that when executed by the processor generate and store an image space reference position in the probe space, second instructions to locate an intersection point in each of a plurality of slices of an image from the image collection platform associated with the calibration pattern for each of the plurality of slices and extract a calibration point therefrom, identify an orientation of the intersection points in a first slice of the plurality of slices, compute a position component of the calibration point in calibration jig space by comparing distances from a center of one of the intersection points near each of the plurality of slices edges to the centers of the other two intersection points for each of the plurality of slices, and transform the positions of the calibration points described in calibration jig space to positions described in probe space.