Systems and Methods for Robotic Medical System Integration With External Imaging

A medical robotic system comprises a memory for receiving intraoperative external image data for at least a portion of a patient anatomy. The portion of the patient anatomy includes a target anatomy, and the intraoperative external image data includes image data for the target anatomy and for an effect of a substance on the target anatomy. The system further includes a processor configured for at least semi-automatically controlling a medical instrument of the medical robotic system based on the intraoperative external image data to deliver the substance to the target anatomy through the medical instrument. The processor is further configured for determining the effect of the substance on the target anatomy. The processor is further configured for, using the determined effect, adjusting a control parameter for delivering the substance to the target anatomy.