Imager focusing based on intraoperative data

A non-transitory computer-readable medium comprising computer-executable instructions that when executed by one or more computing devices, cause the one or more computing devices to:

• determine position and orientation of an imaging plane of a focusable imager used in a medical scene based at least in part on a detected position and orientation of a first tracking device coupled to the focusable imager;
• determine position and orientation of a medical device used in the medical scene based at least in part on a detected position and orientation of a second tracking device coupled to the medical device;
• determine an intersection of the imaging plane and a central axis of the medical device based at least in part on the determined position and orientation of the imaging plane and the determined position and orientation of the medical device;
• determine position and orientation of at least one object of interest in the medical scene based at least in part on the determined intersection of the imaging plane and the central axis of the medical device;
• determine a focal adjustment for the focusable imager based at least in part on the position and orientation of the at least one object of interest and the position and orientation of a focal plane of the focusable imager;
• and
• cause the focusable imager to adjust the focal plane the focusable imager based at least in part on the determined focal adjustment for the focusable imager.

A system comprising one or more computing devices, said one or more computing devices being configured to:

• determine position and orientation of an imaging plane of a focusable imager used in a medical scene based at least in part on a detected position and orientation of a first tracking device coupled to the focusable imager;
• determine position and orientation of a medical device used in the medical scene based at least in part on a detected position and orientation of a second tracking device coupled to the medical device;
• determine an intersection of the imaging plane and a central axis of the medical device based at least in part on the determined position and orientation of the imaging plane and the determined position and orientation of the medical device;
• determine position and orientation of at least one object of interest in the medical scene based at least in part on the determined intersection of the imaging plane and the central axis of the medical device;
• determine a focal adjustment for the focusable imager based at least in part on the position and orientation of the at least one object of interest and the position and orientation of a focal plane of the focusable imager;
• and
• cause the focusable imager to adjust the focal plane of the focusable imager based at least in part on the determined focal adjustment for the focusable imager.