Systems and methods for detecting, localizing, assessing, and visualizing bleeding in a surgical field

A robotic surgical system, comprising:

• a camera configured to capture a video of a surgical scene;
• an output device configured to display the video;
• at least one processor;
• and
• memory storing instructions that, when executed by the at least one processor, cause the system to perform operations comprising:
• identifying a first frame in the video depicting a surgical scene;
• identifying a second frame in the video depicting the surgical scene;
• identifying whether the second frame depicts bleeding comprising:
• generating a first entropy mask representing local entropies of first pixels in the first frame;
• generating a second entropy mask representing local entropies of second pixels in the second frame;
• and
• determining whether the second frame depicts bleeding based on the first entropy mask and the second entropy mask;
• and
• outputting, via the output device, the second frame with an augmentation indicating whether bleeding is depicted in the second frame.