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US 2019/0098282 A1Published application
Stereo imaging system with automatic disparity adjustment for displaying close range objects
AssigneeIntuitive Surgical Operations, Inc.
InventorsWenyi Zhao, Catherine J. Mohr, Simon P. DiMaio
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Abstract
A stereo imaging system comprises a stereoscopic camera having left and right image capturing elements for capturing stereo images; a stereo viewer; and a processor configured to modify the stereo images prior to being displayed on the stereo viewer so that a disparity between corresponding points of the stereo images is adjusted as a function of a depth value within a region of interest in the stereo images after the depth value reaches a target depth value.
Claims14
A medical robotic system comprising:
- a stereoscopic endoscope positionable within a patient to capture stereo images of a work site within the patient;
- a depth sensing system configured to determine a depth value for a region of interest in the stereo images, wherein the depth value indicates a distance from image capturing elements of the stereoscopic endoscope to a region of the work site that corresponds to the region of interest in the stereo images;
- a stereo viewer;
- and
- an image processor coupled to the stereoscopic endoscope, the depth sensing system, and the stereo viewer, wherein the image processor is configured to:
- generate modified stereo images by modifying the stereo images by adjusting a disparity between corresponding points of the stereo images when the depth value is less than or equal to a target depth value at which the depth value becomes so small that a user viewing the stereo images without modification on the stereo viewer would have difficulty visually fusing the stereo images;
- and
- cause the modified stereo images to be displayed on the stereo viewer.
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Dependencies are inferred from the claim text.