公开(公告)号：WO2021202609A1

公开(公告)日：2021-10-07

申请号：PCT/US2021/024999

申请日：2021-03-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： MURUGAPPAN, Sundar ,  RODRIGUES, Danilo Gasques ,  PAYYAVULA, Govinda ,  DIMAIO, Simon

IPC: G06T19/00 ,  G06T7/30 ,  A61B2017/00216 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/2048 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2090/365 ,  A61B2090/372 ,  A61B2090/502 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B90/361 ,  A61B90/96 ,  B25J9/1671 ,  G05B2219/39451 ,  G06T19/006 ,  G06T2200/24 ,  G06T2210/41 ,  G06T2219/024 ,  G16H20/40 ,  G16H40/63

Abstract: A facilitation system for facilitating remote presentation of a physical world includes a first object and an operating environment of the first object. The facilitation system includes a processing system configured to obtain an image frame depicting the physical world, identify a depiction of the first object in the image frame, and obtain a first spatial registration registering an object model with the first object in the physical world. The object model is of the first object. The processing system is further configured to obtain an updated object model corresponding to the object model updated with a current state of the first object, and generate a hybrid frame using the image frame, the first spatial registration, and the updated object model. The hybrid frame includes the image frame with the depiction of the first object replaced by a depiction of the updated object model.