Stereoscopic visualization camera and platform
First Claim
1. A stereoscopic imaging apparatus configured to reduce spurious parallax between first and second images streams recorded in parallel of a target site, the apparatus comprising:
- first optical elements positioned along a first optical path and including (i) a first plurality of lenses including a first zoom lens configured to be moveable along the first optical path in a z-direction, and (ii) a first image sensor to record the first image stream of the target site from light in the first optical path;
second optical elements positioned along a second optical path parallel to the first optical path, and including (i) a second plurality of lenses including a second zoom lens configured to be moveable along the second optical path in a z-direction, and (ii) a second image sensor to record the second image stream of the target site from light in the second optical path; and
a processor configured to;
locate a position of a first zoom repeat point (“
ZRP”
) by;
causing the first zoom lens to move along the z-direction during a recording of the first image stream,locating a first portion of area that does not move in an x-direction or a y-direction within the images of the first image stream, anddetermining a first distance between an origin point within at least one of the images of the first image stream and the first portion of the area as the position of the first ZRP,determine a first pixel set of a first pixel grid of the first image sensor using the first distance such that the first ZRP is located at a center of the first pixel set,determine a second pixel set of a second pixel grid of the second image sensor that includes an image that is aligned with an image from the first pixel set of the first image sensor,locate a position of a second ZRP by;
causing the second lens to move along the z-direction during a recording of the second image stream,locating a second portion of area that does not move in the x-direction or the y-direction within the images of the second image stream, anddetermining a second distance between a center of the second pixel set and the second portion of the area as the position of the second ZRP, andadjust one of the second plurality of lenses or the second image sensor in at least one of the x-direction, the y-direction, and a tilt-direction to cause the second ZRP to be aligned with the center of the second pixel set based on the determined second distance.
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Accused Products
Abstract
A stereoscopic visualization camera and platform are disclosed. An example stereoscopic visualization camera includes a first plurality of lenses positioned along a first optical path and a first image sensor to record a first image stream of a target site from light in the first optical path. The stereoscopic visualization camera also includes a second plurality of lenses positioned along a second optical path, parallel to the first optical path, and a second image sensor to record a second image stream of the target site from light in the second optical path. The stereoscopic visualization camera also includes a processor configured to reduce spurious parallax between the first and second images streams by selecting pixel sets of pixel grids of the first and second image sensors such that zoom repeat points (“ZRP”) are located at a center of the respective pixel grids.
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Citations
25 Claims
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1. A stereoscopic imaging apparatus configured to reduce spurious parallax between first and second images streams recorded in parallel of a target site, the apparatus comprising:
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first optical elements positioned along a first optical path and including (i) a first plurality of lenses including a first zoom lens configured to be moveable along the first optical path in a z-direction, and (ii) a first image sensor to record the first image stream of the target site from light in the first optical path; second optical elements positioned along a second optical path parallel to the first optical path, and including (i) a second plurality of lenses including a second zoom lens configured to be moveable along the second optical path in a z-direction, and (ii) a second image sensor to record the second image stream of the target site from light in the second optical path; and a processor configured to; locate a position of a first zoom repeat point (“
ZRP”
) by;causing the first zoom lens to move along the z-direction during a recording of the first image stream, locating a first portion of area that does not move in an x-direction or a y-direction within the images of the first image stream, and determining a first distance between an origin point within at least one of the images of the first image stream and the first portion of the area as the position of the first ZRP, determine a first pixel set of a first pixel grid of the first image sensor using the first distance such that the first ZRP is located at a center of the first pixel set, determine a second pixel set of a second pixel grid of the second image sensor that includes an image that is aligned with an image from the first pixel set of the first image sensor, locate a position of a second ZRP by; causing the second lens to move along the z-direction during a recording of the second image stream, locating a second portion of area that does not move in the x-direction or the y-direction within the images of the second image stream, and determining a second distance between a center of the second pixel set and the second portion of the area as the position of the second ZRP, and adjust one of the second plurality of lenses or the second image sensor in at least one of the x-direction, the y-direction, and a tilt-direction to cause the second ZRP to be aligned with the center of the second pixel set based on the determined second distance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A stereoscopic imaging apparatus configured to reduce spurious parallax between first and second image streams recorded in parallel of a target site, the apparatus comprising:
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first optical elements positioned along a first optical path and including (i) a first plurality of lenses including a first zoom lens configured to be moveable along the first optical path in a z-direction, and (ii) a first image sensor to record the first image stream of the target site from light in the first optical path; second optical elements positioned along a second optical path that is parallel to the first optical path, the second optical elements including (i) a second plurality of lenses including a second zoom lens configured to be moveable along the second optical path in the z-direction, and (ii) a second image sensor to record the second image stream of the target site from light in the second optical path; and a processor configured to; locate a position of a first zoom repeat point (“
ZRP”
) in the first image stream,determine a first pixel set of a first pixel grid of the first image sensor such that the first ZRP is located at a center of the first pixel set, and determine a second pixel set of a second pixel grid of the second image sensor such that an image from the second pixel set is visually aligned with an image from the first pixel set. - View Dependent Claims (13, 14, 15, 16, 21, 22)
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17. The stereoscopic imaging apparatus of 13, further comprising a visible light source, a near-infrared (NIR) light source, and a near-ultraviolet (NUV) light source.
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18. The stereoscopic imaging apparatus of 17, wherein the visible light source and the NIR light source are placed between the main objective assembly and a deflecting element, and
wherein the NUV light source is behind the deflecting element such that NUV light transmitted from the NUV light source contacts the deflecting element before a portion of the NUV light reaches the main objective assembly for propagation to the target site.
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23. The stereoscopic imaging apparatus of 12, further comprising a housing configured to enclose the first optical elements, the second optical elements, and the processor,
wherein the housing has a width between 20 and 22 cm, a length between 23 and 27 cm, and a height between 13 and 17 cm.
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24. The stereoscopic imaging apparatus of 12, wherein the first optical path is separated from the second optical path by an interpupillary distance.
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25. The stereoscopic imaging apparatus of 12, wherein the first zoom lens is configured to change a size of the first image stream while being fixed in position along the z-direction and the second zoom lens is configured to change a size of the second image stream while being fixed in position along the z-direction.
Specification