摘要:
A robotic surgical system positions and holds an endoscope. A visible imaging system is coupled to the endoscope. The visible imaging system captures a visible image of tissue. An alternate imaging system is also coupled to the endoscope. The alternate imaging system captures a fluorescence image of at least a portion of the tissue. A stereoscopic video display system is coupled to the visible imaging system and to the alternate imaging system. The stereoscopic video display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of a fluorescence image associated with the captured fluorescence image, and the visible image.
摘要:
An illumination channel, a stereoscopic optical channel and another optical channel are held and positioned by a robotic surgical system. A first capture unit captures a stereoscopic visible image from the first light from the stereoscopic optical channel while a second capture unit captures a fluorescence image from the second light from the other optical channel. An intelligent image processing system receives the captured stereoscopic visible image and the captured fluorescence image and generates a stereoscopic pair of fluorescence images. An augmented stereoscopic display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of the stereoscopic visible image and the stereoscopic pair of fluorescence images.
摘要:
An endoscope with a stereoscopic optical channel is again held and positioned by a robotic surgical system. A capture unit captures (1) at a first time, a first image from light from the channel; and (2) at a second time different from the first time, a second image from the light. Only one of the first image and the second image includes a combination of a fluorescence image and a visible image. The other of the first image and the second image is a visible image. An intelligent image processing system generates an artificial fluorescence image using the captured fluorescence image. An augmented stereoscopic display system outputs an augmented stereoscopic image of at least a portion of the tissue comprising the artificial fluorescence image.
摘要:
An endoscope with a stereoscopic optical channel is again held and positioned by a robotic surgical system. A capture unit captures (1) at a first time, a first image from light from the channel; and (2) at a second time different from the first time, a second image from the light. Only one of the first image and the second image includes a combination of a fluorescence image and a visible image. The other of the first image and the second image is a visible image. An intelligent image processing system generates an artificial fluorescence image using the captured fluorescence image. An augmented stereoscopic display system outputs an augmented stereoscopic image of at least a portion of the tissue comprising the artificial fluorescence image.
摘要:
A local contrast enhancement method transforms a first plurality of color components of a first visual color image into a modified brightness component by using a first transformation. The first plurality of color components are in a first color space. The modified brightness component is a brightness component of a second color space. The second color space also includes a plurality of chromatic components. The method transforms all the color components of the first color space into the chromatic components of the second color space. The method then transforms the modified brightness component and the chromatic components of the second color space into a plurality of new color components, in the first color space, of a second visual color image. The method transmits the plurality of new color components to a device such as a display device. The second visual color image has enhanced contrast in comparison to the first visual color image.
摘要:
A local contrast enhancement method transforms a first plurality of color components of a first visual color image into a modified brightness component by using a first transformation. The first plurality of color components are in a first color space. The modified brightness component is a brightness component of a second color space. The second color space also includes a plurality of chromatic components. The method transforms all the color components of the first color space into the chromatic components of the second color space. The method then transforms the modified brightness component and the chromatic components of the second color space into a plurality of new color components, in the first color space, of a second visual color image. The method transmits the plurality of new color components to a device such as a display device. The second visual color image has enhanced contrast in comparison to the first visual color image.
摘要:
An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.
摘要:
An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.
摘要:
An endoscope with a stereoscopic optical channel is held and positioned by a robotic surgical system. A first capture unit captures: a visible first color component of a visible left image combined with a fluorescence left image from first light from one channel in the endoscope; a visible second color component of the visible left image from the first light; and a visible third color component of the visible left image from the first light. A second capture unit captures: a visible first color component of a visible right image combined with a fluorescence right image from second light from the other channel in the endoscope; a visible second color component of the visible right image from the second light; and a visible third color component of the visible right image from the second light. An augmented stereoscopic outputs a real-time stereoscopic image including a three-dimensional presentation including the visible left and right images and the fluorescence left and right images.
摘要:
An endoscope with a stereoscopic optical channel is held and positioned by a robotic surgical system. A first capture unit captures: a visible first color component of a visible left image combined with a fluorescence left image from first light from one channel in the endoscope; a visible second color component of the visible left image from the first light; and a visible third color component of the visible left image from the first light. A second capture unit captures: a visible first color component of a visible right image combined with a fluorescence right image from second light from the other channel in the endoscope; a visible second color component of the visible right image from the second light; and a visible third color component of the visible right image from the second light. An augmented stereoscopic outputs a real-time stereoscopic image including a three-dimensional presentation including the visible left and right images and the fluorescence left and right images.