System and method for generating a three-dimensional model of a surgical site

A method for generating a 3D model comprising:

• continuously scanning a surface of a surgical site using a structured light scanner embodied on an endoscope;
• continuously capturing images of a scan pattern projected on the surgical site by the structured light scanner;
• generating a 3D model of the surgical site based on the captured images of the scan pattern at the based on the captured scan pattern;
• detecting a change in the surgical site during the continuous scanning from a source separate from the endoscope;
• isolating a region of the surgical site where the change is detected;
• flattening the isolated region in the 3D model;
• capturing images of the scan pattern in the isolation region of the surgical site;
• and
• updating the 3D model generated using the captured images of the scan pattern in the isolated regions of the surgical site.

A method for generating a 3D model comprising:

• continuously scanning a surface of a surgical site using a structured light scanner embodied on an endoscope;
• continuously capturing images of a scan pattern projected on the surgical site by the structured light scanner;
• generating a 3D model of the surgical site based on the captured images of the scan pattern at the based on the captured scan pattern;
• detecting a change in the surgical site during the continuous scanning;
• isolating a region of the surgical site where the change is detected;
• flattening the isolated region in the 3D model;
• capturing images of the scan pattern in just the isolation region of the surgical site;
• and
• updating the 3D model generated using the captured images of the scan pattern in just the isolated regions of the surgical site.

A method for generating a 3D model comprising:

• continuously scanning a surface of a surgical site using a structured light scanner embodied on an endoscope;
• continuously capturing images of a scan pattern projected on the surgical site by the structured light scanner;
• generating a 3D model of the surgical site based on the captured images of the scan pattern at the based on the captured scan pattern;
• detecting a change in the surgical site during the continuous scanning;
• isolating a region of the surgical site where the change is detected;
• flattening the isolated region in the 3D model;
• capturing images of the scan pattern in just the isolation region of the surgical site;
• and
• updating the 3D model generated using the captured images of the scan pattern in just the isolated regions of the surgical site, wherein when the detected change is a movement of a surgical tool through the scan pattern projected on the surgical site, the change is ignored and the continuously scanning and continuously capturing images continues.