Medical devices, systems, and methods using eye gaze tracking for stereo viewer

A teleoperational medical system for performing a medical procedure, comprising:

• an eye tracking system including:
• an image display comprising a first coordinate frame and configured to display an image of a surgical field comprising a second coordinate frame to a user, wherein the user is in a third coordinate frame, the image display configured to emit a light in a first wavelength range;
• a right eye tracker configured to emit light in a second wavelength range and to measure data about a first gaze point of a right eye of the user;
• a left eye tracker configured to emit light in the second wavelength range and to measure data about a second gaze point of a left eye of the user;
• at least one processor configured to process the data about the first gaze point and the second gaze point to determine a viewing location in the displayed image at which the first gaze point and the second gaze point of the user is directed, wherein the processor is configured to translate motion of the right eye and the left eye in the third coordinate frame relative to the image in the second coordinate frame into a control signal;
• and
• a control unit configured to control at least one function of the teleoperational medical system based upon the control signal received from the at least one processor, wherein the at least one function includes influencing at least one of the image and at least a portion of a teleoperational system in the surgical field relative to the second coordinate frame.

An eye tracking system, comprising:

• an image display comprising a first coordinate frame and configured to display an image of a surgical field comprising a second coordinate frame to a user, wherein the user is in a third coordinate frame, the image display configured to emit a light in a first wavelength range;
• a right eye tracker configured to emit light in a second wavelength range and to measure data about a first gaze point of a right eye of the user;
• a left eye tracker configured to emit light in the second wavelength range and to measure data about a second gaze point of a left eye of the user;
• a right eye light emitter and a left eye light emitter, the right eye light emitter configured to emit light of the second wavelength range to the right eye of the user, and the left eye light emitter configured to emit light of the second wavelength range to the left eye of the user.
• an optical assembly disposed between the image display and the right and left eyes of user, the optical assembly comprising a right eye mirror set and a left eye mirror set arranged to provide optical communication between the right and left eyes of the user, the eye trackers, and the light emitters;
• and
• at least one processor configured to process the data about the first gaze point and the second gaze point to determine a viewing location in the displayed image at which the first gaze point and the second gaze point of the user is directed, wherein the processor is configured to translate motion of the right eye and the left eye in the third coordinate frame relative to the image in the second coordinate frame into a control signal to influence at least one of the image and at least a portion of a teleoperational system in the surgical field relative to the second coordinate frame.