US 10,299,880 B2Granted

Stereoscopic visualization camera and platform

AssigneeTrueVision Systems, Inc.

InventorsMaximiliano Ramirez Luna, Michael Weissman, Thomas Paul Riederer, George Charles Polchin, Ashok Burton Tripathi

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Abstract

A stereoscopic visualization camera and platform are disclosed. An example stereoscopic visualization camera includes a first plurality of lenses positioned along a first optical path and a first image sensor to record a first image stream of a target site from light in the first optical path. The stereoscopic visualization camera also includes a second plurality of lenses positioned along a second optical path, parallel to the first optical path, and a second image sensor to record a second image stream of the target site from light in the second optical path. The stereoscopic visualization camera also includes a processor configured to reduce spurious parallax between the first and second images streams by selecting pixel sets of pixel grids of the first and second image sensors such that zoom repeat points (“ZRP”) are located at a center of the respective pixel grids.

Claims25

Dependent claims

A stereoscopic imaging apparatus configured to reduce spurious parallax between first and second images streams recorded in parallel of a target site, the apparatus comprising:

first optical elements positioned along a first optical path and including (i) a first plurality of lenses including a first zoom lens configured to be moveable along the first optical path in a z-direction, and (ii) a first image sensor to record the first image stream of the target site from light in the first optical path;
second optical elements positioned along a second optical path parallel to the first optical path, and including (i) a second plurality of lenses including a second zoom lens configured to be moveable along the second optical path in a z-direction, and (ii) a second image sensor to record the second image stream of the target site from light in the second optical path;
and
a processor configured to:
locate a position of a first zoom repeat point (“ZRP”) by:
causing the first zoom lens to move along the z-direction during a recording of the first image stream,
locating a first portion of area that does not move in an x-direction or a y-direction within the images of the first image stream, and
determining a first distance between an origin point within at least one of the images of the first image stream and the first portion of the area as the position of the first ZRP,
determine a first pixel set of a first pixel grid of the first image sensor using the first distance such that the first ZRP is located at a center of the first pixel set,
determine a second pixel set of a second pixel grid of the second image sensor that includes an image that is aligned with an image from the first pixel set of the first image sensor,
locate a position of a second ZRP by:
causing the second lens to move along the z-direction during a recording of the second image stream,
locating a second portion of area that does not move in the x-direction or the y-direction within the images of the second image stream, and
determining a second distance between a center of the second pixel set and the second portion of the area as the position of the second ZRP, and
adjust one of the second plurality of lenses or the second image sensor in at least one of the x-direction, the y-direction, and a tilt-direction to cause the second ZRP to be aligned with the center of the second pixel set based on the determined second distance.

12 more elements

A stereoscopic imaging apparatus configured to reduce spurious parallax between first and second image streams recorded in parallel of a target site, the apparatus comprising:

first optical elements positioned along a first optical path and including (i) a first plurality of lenses including a first zoom lens configured to be moveable along the first optical path in a z-direction, and (ii) a first image sensor to record the first image stream of the target site from light in the first optical path;
second optical elements positioned along a second optical path that is parallel to the first optical path, the second optical elements including (i) a second plurality of lenses including a second zoom lens configured to be moveable along the second optical path in the z-direction, and (ii) a second image sensor to record the second image stream of the target site from light in the second optical path;
and
a processor configured to:
locate a position of a first zoom repeat point (“ZRP”) in the first image stream,
determine a first pixel set of a first pixel grid of the first image sensor such that the first ZRP is located at a center of the first pixel set, and
determine a second pixel set of a second pixel grid of the second image sensor such that an image from the second pixel set is visually aligned with an image from the first pixel set.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/814,127Filed 15 Nov 2017 · us provisional application
Priority: 5 Apr 2017
Published: US 2018/0303574 A125 Oct 2018
Granted: 28 May 2019
Term ends: Not estimatedThe source records don’t support an estimate.

Classification46 codes

A61B 90/37
Image-producing devices or illumination devices not otherwise provided for: surgical systems with images on a monitor during operation
A61B 34/32
Surgical robots: operating autonomously
A61B 34/77
Manipulators specially adapted for use in surgery: manipulators with motion or force scaling
A61B 90/20
Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00,…