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US 12,575,888 B2Granted
Predicting stereoscopic video with confidence shading from a monocular endoscope
AssigneeCovidien LP
InventorsSteven J. Levine, Meir Rosenberg, Samuel B. Kesner
Life of this patent
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Abstract
A surgical robotic system includes an image processing device configured to receive an endoscopic video feed and generate a stereoscopic video feed with confidence shading overlays on display. The confidence shading is based on a level of confidence associated with uncertain regions within images making up the stereoscopic video feed.
Claims20
A surgical robotic system comprising:
- an endoscopic camera configured to capture images of a three-dimensional (3D) scene;
- a video processing device coupled to the endoscopic camera and configured to generate a stereoscopic video of the 3D scene based on the images of the 3D scene, the video processing device configured to:
- render a first view of the 3D scene from a first vantage point based on an image of the captured images;
- render a second view of the 3D scene from a second vantage point based on the image, the second view including at least one white area corresponding to occluded regions not visible in the image;
- fill-in the at least one white area in the second view;
- generate a stereoscopic image based on the first view and the second view;
- and
- overlay a confidence shading to the at least one filled-in white area in the stereoscopic image based on a degree of uncertainty associated with the at least one filled-in white area.
5 more elements
A method for processing video data of a three-dimensional (3D) scene, the method comprising:
- rendering a first view of the 3D scene from a first vantage point based on an image captured by an endoscope;
- rendering a second view of the 3D scene from a second vantage point based on the image, the second view including at least one white area corresponding to occluded regions not visible in the image;
- filling-in the at least one white area in the second view;
- a stereoscopic image based on the first view and the second view;
- and
- overlaying a confidence shading to the at least one filled-in white area in the stereoscopic image based on a degree of uncertainty associated with the at least one filled-in white area.
3 more elements
A video processing device of a surgical robotic system, the video processing device configured to:
- receive images of a three-dimensional (3D) scene captured by an endoscope;
- render a first view of the 3D scene from a first vantage point based on an image of the received images;
- render a second view of the 3D scene from a second vantage point based on the image, the second view including at least one white area corresponding to occluded regions not visible in the image;
- fill-in the at least one white area in the second view;
- generate a stereoscopic image based on the first view and the second view;
- and
- overlay a confidence shading to the at least one filled-in white area in the stereoscopic image based on a degree of uncertainty associated with the at least one filled-in white area.
4 more elements
Dependencies are inferred from the claim text.