STEREO TELESTRATION FOR ROBOTIC SURGERY
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Abstract
In one embodiment of the invention, a robotic surgical system includes a master control console having a stereo viewer to view stereo images; a surgical manipulator having a stereo endoscopic camera coupled to a robotic arm to generate the stereo images of a surgical site; a stereo telestration device coupled between the stereo endoscopic camera and the stereo viewer to mix telestration graphics and the stereo images of the surgical site together for viewing by the stereo viewer; and a telestration generator coupled to the stereo telestration device to generate the telestration graphics for overlay on the stereo images of the surgical site.
130 Citations
42 Claims
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1-16. -16. (canceled)
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17. A method for a robotic surgical system comprising:
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receiving a mono-view of a telestration graphic; generating a stereo-view of the telestration graphic from the mono-view of the telestration graphic; and overlaying the stereo-view of the telestration graphic onto a stereo-view of a surgical site. - View Dependent Claims (19, 20, 21, 22)
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18. (canceled)
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23-32. -32. (canceled)
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33. A method for telestrating on a three-dimensional image of a surgical site, comprising:
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receiving a telestration graphic input associated with one of a pair of stereoscopic images of an surgical site; determining a corresponding telestration graphic input in the other of the pair of stereoscopic images using at least one of a disparity map and a depth map corresponding to the pair of stereoscopic images so that a three-dimensional view of the telestration graphic input is generated which is displayable as a contoured overlay to a three-dimensional view of the surgical site; and displaying the three-dimensional view of the telestration graphic input as the contoured overlay to the three-dimensional view of the surgical site on a three-dimensional display. - View Dependent Claims (34, 35, 36, 37, 38, 39)
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40. A medical robotic system providing three-dimensional telestration comprising:
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a stereo endoscopic camera; a console having a three-dimensional display for displaying stereo images captured by the stereo endoscopic camera; a telestration generator receiving at least one of a pair of stereo images captured by the stereo endoscopic camera to generate a two-dimensional telestration graphic input relative to the received stereo image; and a stereo telestration system configured to receive the two-dimensional telestration graphic input from the telestration generator, determine a corresponding two-dimensional telestration graphic input in the other of the pair of stereoscopic images using at least one of a disparity map and a depth map corresponding to the pair of stereoscopic images so that a three-dimensional view of the telestration graphic input is generated which is displayable as a contoured overlay to a three-dimensional view of the surgical site on the three-dimensional display. - View Dependent Claims (41, 42)
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Specification