Integrated illumination and optical surface topology detection system and methods of use thereof

An integrated surgical system for optical topology detection, illumination, and tracking, comprising:

• a surgical illumination system comprising one or more illumination light sources for illuminating a region of interest with illumination light;
• an optical topology detection system comprising a structured light projection device for projecting optical topology detection light comprising structured light patterns onto the region of interest and one or more optical topology detection cameras for imaging optical topology detection light scattered or reflected from the region of interest;
• an optical tracking system comprising a plurality of tracking cameras for detecting tracking light associated with one or more fiducial markers;
• wherein at least a portion of the spectral content of the illumination light from said surgical illumination system is within an optical detection bandwidth of said optical topology detection system;
• wherein at least a portion of the spectral content of the tracking light detected by said optical tracking system is within the optical detection bandwidth of said optical topology detection system;
• and
• one or more processors configured to:
• provide one or more control signals for repeatedly triggering interleaved operation of said optical topology detection system with said surgical illumination system;
• and
• synchronize the operation of said optical topology detection system, said surgical illumination system and said optical tracking system, according to the one or more control signals, such that said optical topology detection system detects optical topology detection light in the absence of the illumination light and tracking light.