Abstract: A tissue scanning system (1) comprising: a depth sensor (13) configured to determine distance to a surface; a pointer device (11), wherein the depth sensor (13) is mounted to the pointer device (11); a camera-based tracking system (3) configured to determine (114) relative orientation and position between an anatomical feature (9) and the pointer device (11); and at least one processing device (6). The processing device (6) is configured to: generate (116) a surface point cloud (16) of a surface (17) associated with the anatomical feature (9) based on a plurality of determined distances from the depth sensor (13) and corresponding relative orientation and position of the pointer device (11) relative to the anatomical feature (9).