Optical tracking device with built-in structured light module

A system comprising:

• an optical tracking device comprising a structured light module and an optical module comprising an image sensor and spaced from the structured light module at a known distance;
• and
• a surgical computing device comprising a display device, a non-transitory computer-readable medium comprising instructions stored thereon, and a processor coupled to the non-transitory computer-readable medium and configured to execute the stored instructions to:
• generate a depth map from a first image captured by the image sensor during projection of a pattern into a surgical environment by the structured light module, wherein the pattern is projected in a near-infrared (NIR) spectrum;
• reconstruct a three-dimensional surface of one or more anatomical structures in the surgical environment based on the generated depth map;
• output the reconstructed three-dimensional surface to the display device;
• and
• process a second image captured by the image sensor in a visible light spectrum to determine tracking information comprising at least a three-dimensional position of each of one or more fiducials within the surgical environment;
• wherein the first and second images are captured in a common coordinate system.