Methods and systems for registering preoperative image data to intraoperative image data of a scene, such as a surgical scene

An imaging system, comprising:

• a sensor array including a plurality of cameras and a depth sensor, wherein the cameras are configured to capture intraoperative image data of a scene including a patient, and wherein the depth sensor is configured to capture intraoperative depth data of the scene;
• a processing device communicatively coupled to the sensor array, wherein the processing device includes a processor and a non-transitory computer-readable storage medium storing instructions, and wherein the instructions, when executed by the processor, cause the processor to—
• receive the intraoperative image data, the intraoperative depth data, and medical scan data of the patient;
• determine that a first portion of the intraoperative image data corresponds to a first type of anatomy the patient;
• determine that a second portion of the intraoperative image data corresponds to a second type of anatomy of the patient;
• and
• register the medical scan data to the intraoperative image data by––
• assigning first weights to different individual first portions of the intraoperative depth data based on a determination that the individual first portion corresponds to the first type of anatomy;
• assigning second weights to different individual second portions of the intraoperative depth data based on a determination that the individual second portion corresponds to the second type of anatomy;
• and
• utilizing a registration algorithm to compute a registration transform between the medical scan data and the intraoperative depth data based at least partially on the first weights and the second weights.

A method of registering medical scan data of a patient to intraoperative data of a scene including the patient, the method comprising:

• receiving the intraoperative data, wherein the intraoperative data comprises intraoperative image data and intraoperative depth data;
• determining that a first portion of the intraoperative image data corresponds to a first type of anatomy the patient;
• determining that a second portion of the intraoperative image data corresponds to a second type of anatomy of the patient;
• and
• registering the medical scan data to the intraoperative image data by––
• utilizing a registration algorithm to compute a registration transform between the medical scan data and the intraoperative depth data, wherein utilizing the registration algorithm includes computing a plurality of point-to-point correspondences between first points in the intraoperative depth data and second points in the medical scan data;
• and
• adjusting the registration algorithm by adjusting weights of the point-to-point correspondences based on a determination that the first points in the point-to-point correspondences correspond to the first type of anatomy or the second type of anatomy.