Systems and methods for guiding drilled hole placement in endoscopic procedures

A system comprising one or more processors, memory, and at least one program stored in the memory for execution by the one or more processors and comprising instructions that, when executed by the one or more processors, cause the system to:

• receive at least one endoscopic image that captures a surface of the tissue and at least a portion of a drill guide to be used for drilling the hole in the tissue;
• identify in the at least one endoscopic image at least one fiducial marker disposed on the drill guide;
• determine a position and orientation of the at least one fiducial marker;
• determine a position and orientation of the hole to be drilled in the tissue based on the position and orientation of the at least one fiducial marker;
• and
• display a visualization of the tissue that comprises a graphical indication of the position and orientation of the hole to be drilled in the tissue.

A method for visually indicating a location of a hole to be drilled in tissue comprising, at a computing system:

• receiving at least one endoscopic image that captures a surface of the tissue and at least a portion of a tool;
• identifying in the at least one endoscopic image and at least one fiducial marker disposed on the tool;
• determining one or more characteristics of the at least one fiducial marker;
• determining position information for the surface of the tissue based on the one or more characteristics of the at least one fiducial marker;
• determining a position of at least one landmark of the tissue based on the position information for the surface of the tissue;
• determining a position and orientation of the hole to be drilled in the tissue based on the position of the at least one landmark and a pre-operative plan;
• and
• displaying a visualization of the tissue that comprises a graphical indication of the position and orientation of the hole to be drilled in the tissue.