1. A method for assisting an image-guided medical procedure relating to one or more items of interest within an anatomy of a patient, the method comprising: receiving one or more preoperative images of the anatomy of the patient; determining image-space coordinates of the one or more items of interest in a frame of reference of the one or more preoperative images; determining pre-operative image-space coordinates of a predicted path of a medical instrument within the anatomy of the patient in the frame of reference of the one or more preoperative images; obtaining patient-space coordinates of an actual path of the medical instrument within the anatomy of the patient in a frame of reference of a position sensing system associated with one or more sensor elements within the anatomy of the patient; registering the pre-operative image space coordinates of the predicted path of the medical instrument with the patient space coordinates of the actual path of the medical instrument to produce at least one transformation matrix relating the frame of reference of the one or more pre-operative images to the frame of reference of the position sensing system; and creating a display indicating relative locations of the medical instrument and the one or more items of interest using the at least one transformation matrix.