Patent attributes
Methods and systems of performing intraoperative image registration during a medical procedure are described. A depth-encoded marker is provided to an object of interest. The marker is imageable by at least two imaging systems. The marker has asymmetry in at least a depth dimension. First and second sets of image data are obtained. Tracking data is obtained. The first image coordinate space, the second image coordinate space and the tracking coordinate space are independent from each other. Transformation mapping is performed to register the first and second sets of image data and the tracking data to each other. The first and second sets of image data are mapped to each other based on the depth-encoded marker. The first or second set of image data and the tracking data are mapped to each other based the same or different marker.
