Augmented visualization for a surgical robot using a captured visible image combined with a fluorescence image and a captured visible image
AssigneeIntuitive Surgical Operations, Inc.
InventorsDavid D. Scott, Wenyi Zhao, Brian D. Hoffman, John D. Stern, Tao Zhao
Life of this patent
Estimating the term…
Abstract
An endoscope with an optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image at a first time and (2) a visible second image combined with a fluorescence image at a second time. An image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence image and generates at least one fluorescence image. A display system outputs an output image including an artificial fluorescence image.
Claims7
1-18. (canceled)
A method of operating an image processing system of a teleoperated system comprising:
- receiving a first frame including a first visible image, the first visible image comprising a first plurality of visible color components, the first frame being captured by a capture unit from light received by an endoscope, and the first frame being captured at a first time;
- and
- receiving a second frame including a combination image, the combination image being a combination of a second visible image and a first fluorescence image, the combination image comprising a second plurality of color components, wherein one color component of the second plurality of color components is captured as a combination of the first fluorescence image and a visible color component, and other color component of the second plurality of color components are captured as visible color components different from the visible color component of the one color component, the second frame being captured by the capture unit from light received by the endoscope, and the second frame being captured at a second time, the second time being different from the first time;
- creating a second fluorescence image including artifacts from the first frame and the second frame;
- creating a third fluorescence image based on the second fluorescence image including artifacts;
- and
- outputting to a display system the first visible image and an artificial fluorescence image, the artificial fluorescence image being based on the third fluorescence image.
Dependencies are inferred from the claim text.