Locating tumors using structured light scanning

A method for displaying a position of a surgical tool relative to a target within a patient, the method comprising:

• determining a pose of the surgical tool;
• determining a pose of an ultrasound imaging device;
• receiving ultrasound images acquired by the ultrasound imaging device;
• determining a distance between the surgical tool and an edge of the target based on the determined pose of the surgical tool and the determined pose of the ultrasound imaging device;
• and
• displaying at least one of:
• an image guidance view including the received ultrasound images acquired by the ultrasound imaging device and a representation of the surgical tool relative to the target based on the determined pose of the surgical tool;
• or
• a textual guidance view including the determined distance between the surgical tool and the edge of the target.

A non-transitory computer-readable storage medium, storing instructions, which, when executed by a processor, cause the processor to:

• determine a pose of a surgical tool;
• determine a pose of an ultrasound imaging device;
• receive ultrasound images acquired by the ultrasound imaging device;
• determine a distance between the surgical tool and a target within the patient based on the determined pose of the surgical tool;
• display an image guidance view including the received ultrasound images acquired by the ultrasound imaging device and a representation of the surgical tool relative to the target based on the determined pose of the surgical tool;
• and
• display a textual guidance view including the determined distance between the surgical tool and the target.