Patient registration systems, devices, and methods for a medical procedure

A medical navigation system comprising:

• a 3D scanner coupled with a first tracking system;
• a second tracking system;
• a patient reference device;
• and
• a controller in communication with the 3D scanner, the first tracking system and the second tracking system, the controller including a processor configured to:
• receive 3D scan data from the 3D scanner, the 3D scan data being obtained for a patient surface relevant to the medical procedure, the 3D scan data being in a 3D scan coordinate space;
• retrieve preoperative image data of the patient surface, the preoperative image data being in a preoperative image coordinate space;
• receive first tracking data from the first tracking system, the first tracking data being obtained for the patient reference device, the first tracking data being in a first tracking coordinate space;
• receive second tracking data from the second tracking system, the second tracking data being obtained for the patient reference device, the second tracking data being in a second tracking coordinate space;
• and
• map the 3D scan data, preoperative image data and second tracking data to a common coordinate space by:
• mapping the 3D scan data and the first tracking data to each other using a transformation, the transformation having been determined based on a calibration relating the 3D scan coordinate space and the tracking coordinate space;
• mapping the 3D scan data and the preoperative image data to each other using a surface matching algorithm, using the surface matching algorithm comprising:
• matching a 3D surface from the 3D scan data with a 3D surface extracted from preoperative volumetric image data;
• cropping the 3D surface to exclude at least one unintended region;
• and selecting a point to initialize surface matching and automatically calculating an iterative closest point (ICP), thereby aligning and matching the 3D surface from the 3D scan data with the 3D surface extracted from preoperative volumetric image data;
• and
• mapping the first tracking data and the second tracking data to each other based on tracking of the patient reference device.

A patient reference device for registering a patient for a medical procedure, the patient reference device comprising:

• a body having a first side and an opposing second side;
• a first plurality of tracking markers supported on the first side and a second plurality of tracking markers supported on the second side, the tracking markers being trackable by a tracking system;
• and
• at least one feature on the first side detectable by a 3D scanner, the at least one feature being configured for calibrating the tracking system with the 3D scanner,
• the 3D scanner coupled with, and in communication with, the tracking system and a controller, the controller comprising a processor configured to:
• receive 3D scan data from the 3D scanner, the 3D scan data being obtained for a patient surface relevant to the medical procedure, the 3D scan data being in a 3D scan coordinate space;
• retrieve preoperative image data of the patient surface, the preoperative image data being in a preoperative image coordinate space;
• receive first tracking data from the first tracking system, the first tracking data being obtained for the patient reference device, the first tracking data being in a first tracking coordinate space;
• receive second tracking data from the second tracking system, the second tracking data being obtained for the patient reference device, the second tracking data being in a second tracking coordinate space;
• and
• map the 3D scan data, preoperative image data and second tracking data to a common coordinate space by:
• mapping the 3D scan data and the first tracking data to each other using a transformation, the transformation having been determined based on a calibration relating the 3D scan coordinate space and the tracking coordinate space;
• mapping the 3D scan data and the preoperative image data to each other using a surface matching algorithm, using the surface matching algorithm comprising:
• matching a 3D surface from the 3D scan data with a 3D surface extracted from preoperative volumetric image data;
• cropping the 3D surface to exclude at least one unintended region;
• and selecting a point to initialize surface matching and automatically calculating an iterative closest point (ICP), thereby aligning and matching the 3D surface from the 3D scan data with the 3D surface extracted from preoperative volumetric image data;
• and
• mapping the first tracking data and the second tracking data to each other based on tracking of the patient reference device.