A computer-implemented method (100) for generating, by one or more computer processors, a 3-dimensional model (10D) for assisted navigation of a patient's
oral cavity, the method based at least on a first scan of an anatomical region of the patient's
oral cavity, the method comprising: receiving a first
data set comprising surface boundary information from the first scan, and generate a 3-dimensional digital
patient model from at least a portion of the first
data set; performing a 3-dimensional surface scan on a portion of the oral lumen using a 3-dimensional surface
scanner, and thereby obtaining a 3-dimensional surface scan, the 3-dimensional surface scan comprising the
region of interest; matching the acquired 3-dimensional surface scan with at least a portion of the 3-dimensional digital
patient model; determining a
spatial transformation using the acquired 3-dimensional surface scan and the digital
patient model, the
spatial transformation configured to align the acquired 3-dimensional surface scan with the 3-dimensional digital patient model or to reach a predetermined degree of registration; determining position and orientation information of the 3-dimensional surface
scanner relative to the 3-dimensional digital patient model using at least the transformation; and generating a second
data set including the position and orientation information of the 3-dimensional surface
scanner relative to the 3-dimensional digital patient model.