1. A computer-implemented method comprising: capturing a plurality of surface registration points of a portion of a human heart from (i) an ultrasound image of the portion of the heart acquired by a catheter comprising a position sensor and an ultrasound array wherein the ultrasound image is acquired from within an anatomical structure in a patient's body, and (ii) data regarding the position of the catheter when the ultrasound image was acquired by the catheter based on the position sensor; and registering a portion of a high-resolution 4D model of the heart with the plurality of surface registration points.