A system for executing a three-dimensional (3D) intraoperative scan of a patient is disclosed. A 3D scanner control computing device projects the object points included onto a first image plane and the object points onto a second image plane. The 3D scanner control computing device determines first epipolar lines associated with the first image plane and second epipolar lines associated with the second image plane based on an epipolar plane that triangulates the object points included in the first 2D intraoperative image to the object points included in the second 2D intraoperative image. Each epipolar lines provides a depth of each object as projected onto the first image plane and the second image plane. The 3D scanner control computing device converts the first 2D intraoperative image and the second 2D intraoperative image to the 3D intraoperative scan of the patient based on the depth of each object point provided by each corresponding epipolar line.