The invention concerns a computer implemented method, comprising the steps of: - positioning, at several positions around a
region of interest (ROI) of a patient (1), an
assembly (3) comprising a depth camera (4) rigidly attached to a registration device (5), the registration device (5) being disposed in the
field of view of the depth camera (4), the registration device (5) comprising a registration device tracker (9); - acquiring, by means of the depth camera (4), for each position of a plurality of positions around the
region of interest, a set of points comprising a first cloud of 3D points representing the
region of interest and a second cloud of 3D points representing the registration device; - locating, for each position, the registration device tracker (9) relatively to a patient tracker (8) attached to the patient (1) by means of a locating
system (7); - obtaining, for each position, from the location of the registration device tracker (9) relatively to the patient tracker of a transformation TMTPM from a coordinate
system of the registration device tracker (9) to a coordinate
system of the patient tracker; - determining a transformation CTMP from a coordinate system of the depth camera to a coordinate system of the patient, the transformation being computed by the following equation CTPM= CTTP TPTTM TMTPM with C a coordinate system attached to the depth camera, PM a coordinate system attached to the patient tracker, TM a coordinate system attached to the registration device tracker (9), TP a coordinate system attached to the registration device (5); -
processing, from the transformation CTMP at each position, each set of points in order to obtain, in the coordinate system attached to the patient tracker, a corresponding cloud of 3D points of the region of interest (ROI); - combining each cloud of 3D points of interest in the coordinate system attached to the patient tracker for obtaining a resulting cloud of 3D points of the region of interest representing the region of interest.