Medical robotic system providing three-dimensional telestration
First Claim
1. A method for telestrating on a three-dimensional image of an anatomical structure, comprising:
- receiving a telestration graphic input associated with one of a pair of stereoscopic images of an anatomical structure; and
determining a corresponding telestration graphic input in the other of the pair of stereoscopic images so that a three-dimensional view of the telestration graphic input may be displayed as an overlay to a three-dimensional view of the anatomical structure.
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Accused Products
Abstract
A medical robotic system provides 3D telestration over a 3D view of an anatomical structure by receiving a 2D telestration graphic input associated with one of a pair of stereoscopic images of the anatomical structure from a mentor surgeon, determining a corresponding 2D telestration graphic input in the other of the pair of stereoscopic images using a disparity map, blending the telestration graphic inputs into respective ones of the pair of stereoscopic images, and providing the blended results to a 3D display so that a 3D view of the telestration graphic input may be displayed as an overlay to a 3D view of the anatomical structure to an operating surgeon.
333 Citations
30 Claims
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1. A method for telestrating on a three-dimensional image of an anatomical structure, comprising:
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receiving a telestration graphic input associated with one of a pair of stereoscopic images of an anatomical structure; and
determining a corresponding telestration graphic input in the other of the pair of stereoscopic images so that a three-dimensional view of the telestration graphic input may be displayed as an overlay to a three-dimensional view of the anatomical structure. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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- 15. A medical robotic system providing three-dimensional telestration comprising a surgeon console configured to receive a telestration graphic input associated with a pair of stereoscopic images of an anatomical structure, and determine a corresponding telestration graphic input in the other of the pair of stereoscopic images so that a three-dimensional view of the telestration graphic input may be displayed as an overlay to a three-dimensional view of the anatomical structure.
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29. A medical robotic system providing three-dimensional telestration, comprising:
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a stereoscopic camera assembly insertable into a body of a patient so as to capture pairs of stereoscopic images of an anatomical structure of the patient during a minimally invasive surgical procedure;
an expert console having a receiver configured to receive a right or left view of the pairs of stereoscopic images captured by the stereoscopic camera assembly, a display for two-dimensionally displaying the received right or left view, a telestration device configured to facilitate generation of a telestration graphic input by an operator of the expert console over the two-dimensionally displayed right or left view, and a transmitter configured to transmit the telestration graphic input; and
a surgeon console having a first receiver configured to receive the pairs of stereoscopic images captured by the stereoscopic camera assembly, and a second receiver configured to receive the telestration graphic input transmitted by the transmitter of the expert console, wherein the surgeon console is configured to generate a disparity map from the received pairs of stereoscopic images, and determine a corresponding telestration graphic input in the other of the pair of stereoscopic images using the disparity map so that a three-dimensional view of the telestration graphic input may be displayed as an overlay to a three-dimensional view of the anatomical structure. - View Dependent Claims (30)
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Specification