Systems, methods and devices to scan 3D surfaces for intra-operative localization

A computer implemented method to provide position and orientation measurements of a surgical instrument with respect to a 3D surface scan of an anatomy comprising the steps of:

• receiving, by at least one processing unit, a 3D surface scan of the anatomy with respect to a scanning reference element;
• receiving, by the at least one processing unit, registration extrinsic parameter data with respect to a localization reference element, the registration extrinsic parameter data being tracking data that can be used to calculate a registration position and orientation;
• generating, by the at least one processing unit, registration extrinsic parameters representing the registration position and orientation of the localization reference element with respect to the scanning reference element from the registration extrinsic parameter data;
• registering, by the at least one processing unit, the 3D surface scan to the localization reference element using the registration extrinsic parameters;
• and
• providing, by the at least one processing unit, position and orientation measurements of the surgical instrument with respect the 3D surface scan of the anatomy.

A computer storage device storing instructions in a non-transient manner which instructions when executed configure at least one processing unit to register a 3D surface scan of a surface profile of a patient's anatomy to a localization system comprising:

• receiving, by the at least one processing unit, scanning extrinsic parameter data with respect to a scanning reference element in a fixed position relative to the anatomy, the scanning extrinsic parameter data being tracking data that can be used to calculate a scanning position and orientation;
• receiving, by the at least one processing unit, from a camera, 3D scan data comprising images from a plurality of vantage points of structured light reflected off a surface of the patient's anatomy;
• generating, by the at least one processing unit, scanning extrinsic parameters representing the scanning position and orientation of the camera with respect to the scanning reference element using the scanning extrinsic parameter data;
• generating, by the at least one processing unit, a 3D surface scan of the surface profile of the anatomy with respect to the scanning reference element using the scanning extrinsic parameters and 3D scan data;
• receiving, by the at least one processing unit, registration extrinsic parameter data with respect to a localization reference element of a localization system, the registration extrinsic parameter data being tracking data that can be used to calculate a registration position and orientation;
• generating, by the at least one processing unit, registration extrinsic parameters representing the registration position and orientation of the localization reference element with respect to the scanning reference element from the registration extrinsic parameter data;
• and
• registering, by the at least one processing unit, the 3D surface scan using the registration extrinsic parameters to the localization system to allow intra-operative navigation with respect to the 3D surface scan of the anatomy.

A computer system comprising at least one processing unit coupled to a storage device storing instructions in a non-transient manner which instructions when executed configure the at least one processing unit to register a 3D surface scan of a surface profile of a patient's anatomy to a localization system comprising:

• receiving, by the at least one processing unit, scanning extrinsic parameter data with respect to a scanning reference element in a fixed position relative to the anatomy, the scanning extrinsic parameter data being tracking data that can be used to calculate a scanning position and orientation;
• receiving, by the at least one processing unit, from a camera, 3D scan data comprising images from a plurality of vantage points of structured light reflected off a surface of the patient's anatomy;
• generating, by the at least one processing unit, scanning extrinsic parameters representing the scanning position and orientation of the camera with respect to the scanning reference element using the scanning extrinsic parameter data;
• generating, by the at least one processing unit, a 3D surface scan of the surface profile of the anatomy with respect to the scanning reference element using the scanning extrinsic parameters and 3D scan data;
• receiving, by the at least one processing unit, registration extrinsic parameter data with respect to a localization reference element of a localization system, the registration extrinsic parameter data being tracking data that can be used to calculate a registration position and orientation;
• generating, by the at least one processing unit, registration extrinsic parameters representing the registration position and orientation of the localization reference element with respect to the scanning reference element from the registration extrinsic parameter data;
• and
• registering, by the at least one processing unit, the 3D surface scan using the registration extrinsic parameters to the localization system to allow intra-operative navigation with respect to the 3D surface scan of the anatomy.