Display with folded optical path

Abstract

The technology described in this document can be embodied in a viewing device for a surgical device, the device comprising: a lens assembly including a first polarizer; a display device configured to present an image of a surgical site; and a reflective surface oriented at an acute angle relative to the display device such that light from the display device is reflected from the reflective surface toward the lens assembly. The first polarizer in the lens assembly is configured such that light reflected from the reflective surface passes through the first polarizer, and light that reaches the first polarizer without being reflected from the reflective surface is substantially blocked.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Application No. 62 / 624,653, entitled “Display with Folded Optical Path,” filed on January 31, 2018. The entire contents of the foregoing application are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to display devices that may be used in robotic surgical systems. Background Art

[0004] Minimally invasive telesurgery systems are being developed for surgical procedures to increase the surgeon's dexterity and allow the surgeon to operate on a patient from a remote location. Telesurgery is a general term for surgical systems in which the surgeon manipulates the movement of surgical instruments using some form of remote control, such as a servomechanism, rather than directly holding and moving the instruments by hand. In such telesurgery systems, an image of the surgical site is provided to the surgeon via a display device. Based on the visual feedback received via the display device, the surgeon performs the surgical procedure on the patient by manipulating a master input device, which in turn controls the movement of the teleoperated robotic instrument. Summary of the invention

[0005] In one aspect, the document describes a viewing device for a surgical device, the device comprising: a lens assembly including a first polarizer; a display device configured to present an image of a surgical site; and a reflective surface oriented at an acute angle relative to the display device such that light from the display device is reflected from the reflective surface toward the lens assembly. The first polarizer in the lens assembly is configured such that light reflected from the reflective surface passes through the first polarizer, and light that reaches the first polarizer without being reflected from the reflective surface is substantially blocked.

[0006] On the other hand, the document describes a stereoscopic display device, the stereoscopic display device comprising: a first display assembly for presenting a first image in a set of two stereoscopic images associated with a surgical site; and a second display assembly for presenting a second image in a set of two stereoscopic images. The first display assembly comprises a first lens assembly; a first display device configured to present the first image; and a first reflector oriented at an acute angle relative to the first display device so that light from the first display device is reflected from the first reflector toward the first lens assembly. The first lens assembly comprises a first polarizer configured so that light reflected from the first reflector passes through the first lens assembly, and light that is not reflected from the first reflector and reaches the first polarizer is substantially blocked. The second display assembly comprises a second lens assembly; a second display device configured to present the second image; and a second reflector oriented at an acute angle relative to the second display device so that light from the second display device is reflected from the second reflector toward the second lens assembly. The second lens assembly comprises a second polarizer configured so that light reflected from the second reflector passes through the second lens assembly, and light that is not reflected from the second reflector and reaches the second polarizer is substantially blocked.

[0007] In another aspect, the document features a surgical system that includes a viewing device, one or more processing devices, and one or more input devices. The viewing device includes a lens assembly that includes a first polarizer; a display device that is configured to present an image of a surgical site; and a reflective surface that is oriented at an acute angle relative to the display device so that light from the display device is reflected from the reflective surface toward the lens assembly. The first polarizer in the lens assembly is configured so that light reflected from the reflective surface passes through the first polarizer, and light that reaches the first polarizer without being reflected from the reflective surface is substantially blocked. The one or more processing devices are configured to operate the surgical system to perform a surgical procedure at a surgical site and to present an image of the surgical site on the display device of the viewing device. The one or more input devices are configured to receive user input associated with the surgical procedure in response to the surgical site being presented on the display device of the viewing device.

[0008] In another aspect, the document features a viewing device for a surgical device, the device comprising: a lens assembly including a first circular polarizer; a display device configured to present an image of a surgical site; a reflective surface oriented at an acute angle relative to the display device so that light from the display device is reflected from the reflective surface toward the lens assembly; and a second circular polarizer configured to circularly polarize light from the display device. The first circular polarizer in the lens assembly is configured so that light reflected from the reflective surface passes through the first circular polarizer, and light that is not reflected from the reflective surface that reaches the first circular polarizer is substantially blocked. The polarization state of the first circular polarizer can be substantially orthogonal to the polarization state of the second circular polarizer.

[0009] Embodiments of the above aspects may include one or more of the following features. The light from the display device may be linearly polarized, and the first polarizer may be a linear polarizer having a polarization state that substantially blocks light that is not reflected from a reflective surface from reaching the first polarizer. The reflective surface may be a reflector. The polarization state may be substantially 45 degrees diagonal. The apparatus may include a third polarizer configured to circularly polarize the light from the first display device. The third polarizer may be a quarter wave plate. The polarization state of the first polarizer may be substantially the same as the polarization state of the second polarizer. The first display device may be oriented at an acute angle relative to the second display device. The first display device may be oriented substantially parallel to the second display device. The first display assembly and the second display assembly may be disposed in a viewing station of a robotic surgical device. The first display assembly and the second display assembly may be disposed in a head mounted device.

[0010] The surgical system may include a robotically controllable surgical instrument, and the one or more processing devices may be configured to control the surgical instrument based on user input. The viewing device may include a second polarizer configured to circularly polarize light from the display device. The first polarizer may be a circular polarizer having a polarization state substantially opposite to the polarization state of the second polarizer.

[0011] Some or all of the embodiments described herein may provide one or more of the following advantages. Using one or more polarizers in the folded light path between a display and a viewer, the techniques described herein may allow embodiments of a device to have a large field of view without visual distractions such as double images. In some cases, this may increase user comfort and / or clarity of the presented image (e.g., compared to a device that does not use the polarizers described herein). In the specific context of a display device associated with a teleoperated surgical system, this may improve the quality of the image presented to the surgeon and allow the surgeon to comfortably use the display device while performing a surgical procedure. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a perspective view of an example patient side cart for a computer-assisted, teleoperated surgical system.

[0013] Figure 2 is a front view of an example surgeon's console for a computer-assisted, teleoperated surgical system.

[0014] Figure 3 is a side view of an example robotic manipulator arm assembly of a computer-assisted, teleoperated surgical system.

[0015] Figure 4 is a schematic diagram of an example of a display device having a folded optical path.

[0016] Figure 5A and Figure 5B are schematic diagrams respectively showing the appearance and disappearance of double images due to changes in eye positions.

[0017] Figure 6 is a schematic diagram of an apparatus using a circular polarizer according to the techniques described herein.

[0018] Fig. 7A and Figure 7B is a schematic diagram of an example apparatus using a linear polarizer in accordance with the techniques described herein. DETAILED DESCRIPTION

[0019] The document describes a display device in which, as presented on the screen, the observable image is reflected by a reflector and any direct line of sight to the display is substantially covered using polarization technology. The technology described herein can be used in stereoscopic peer display devices used in image-guided surgical procedures such as minimally invasive robot-assisted surgery (also referred to herein as minimally invasive surgery (MIS)). In such a display device, a large display screen (e.g., a liquid crystal display (LCD) or a light emitting diode (LED) display) can be used in combination with a powerful optical device to expand the surgeon's field of view. However, in some cases, it can also be important that the image observed by the surgeon is substantially free of visual interference (such as a double image) to ensure comfortable use for an extended period of time. The technology described in the document allows the presentation of images substantially free of visual interference, even when the image is presented using a large display screen. For example, one or more polarizers can be used in the optical path of the display device so that, via appropriate use of one or more polarizers, the viewer can only observe rays reflected off the reflective surface (set to facilitate reflection or "folding" the optical path), while preventing direct line of sight rays from reaching the viewer's eyes. This, in turn, can allow for reduction of visual distractions such as double images, which can potentially change position or appear / disappear when the surgeon moves his / her eyes and / or head. In some cases, reduction of visual distractions can allow for more comfortable long-term use of the display device. For example, when the techniques described herein are used in a stereoscopic display device of a teleoperated surgical system, it can allow the surgeon to better visualize the surgical site and / or comfortably focus on the surgical procedure for an extended period of time without having to experience visual distractions.

[0020] Based primarily on the use of da Various aspects of the technology are described with reference to embodiments of surgical systems. An example of such a surgical system is a Xi TM Surgical System (Model IS4000) and Si TM HD TM Surgical system (model IS3000). It should be understood that the aspects disclosed herein can be embodied and implemented in various ways including computer-assisted, non-computer-assisted, and manual and computer-assisted hybrid embodiments and implementations. Implementations on surgical systems (e.g., surgical simulators, Model IS4000, Model IS3000, Model IS2000, Model IS1200) are described for illustrative purposes and should not be considered to limit the scope of the inventive aspects disclosed herein. As applicable, inventive aspects may be embodied and implemented in both relatively small handheld manual devices and relatively larger systems with additional mechanical support, as well as in other embodiments of computer-assisted remotely operated medical devices. Although the technology is primarily described with reference to examples of peer displays, the technology may also be used for other types of wearable or non-wearable display devices (such as head-mounted display devices used in, for example, virtual or augmented reality (VR / AR) systems).

[0021] Reference Figure 1 and Figure 2 , a system for minimally invasive computer-assisted telesurgery (also referred to as MIS) may include a patient-side cart 100 and a surgeon's console 50. Telesurgery is a general term for surgical systems in which the surgeon manipulates the movement of surgical instruments using some form of remote control (e.g., servomechanisms, etc.) rather than directly holding and moving the instruments by hand. Robotically manipulable surgical instruments can be inserted into small, minimally invasive surgical holes to treat tissue at a surgical site in a patient's body, thereby avoiding the trauma associated with larger incisions required for open surgery. These robotic systems can move the working ends of surgical instruments flexibly enough to perform fairly complex surgical tasks, which is typically achieved by pivoting the shaft of the instrument at the minimally invasive hole, sliding the shaft axially through the hole, rotating the shaft within the hole, and the like.

[0022] In the depicted embodiment, the patient side cart 100 includes a base 110, a first robotic manipulator arm assembly 120, a second robotic manipulator arm assembly 130, a third robotic manipulator arm assembly 140, and a fourth robotic manipulator arm assembly 150. Each robotic manipulator arm assembly 120, 130, 140, and 150 is pivotally coupled to the base 110. In some embodiments, fewer than four or more than four robotic manipulator arm assemblies may be included as part of the patient side cart 100. Although in the depicted embodiment, the base 110 includes casters to allow for easy mobility, in some embodiments, the patient side cart 100 is fixedly mounted to a floor, ceiling, operating table, structural frame, etc.

[0023] In a typical application, two of the robotic manipulator arm assemblies 120, 130, 140, or 150 hold surgical instruments, and the third holds a stereo endoscope. The remaining robotic manipulator arm assembly is available so that a third instrument can be introduced at the work site. Alternatively, the remaining robotic manipulator arm assembly can be used to introduce a second endoscope or another image capture device (such as an ultrasound transducer) to the work site.

[0024] Conventionally, each of the robotic manipulator arm assemblies 120, 130, 140, and 150 is formed of links coupled together and manipulated by actuatable joints. Each of the robotic manipulator arm assemblies 120, 130, 140, and 150 includes a mounting arm and a device manipulator. The mounting arm positions the device it holds so that a pivot point occurs at the entry hole into the patient. The device manipulator can then manipulate the device it holds so that it can pivot about the pivot point, be inserted into and retracted from the entry hole, and rotate about the axis of its shaft.

[0025] In the depicted embodiment, the surgeon console 50 includes a stereoscopic peer display 45 so that the user can view the surgical work site in stereoscopic vision from the images captured by the stereo camera of the patient side cart 100. Left eyepiece 46 and right eyepiece 47 are provided in the stereoscopic peer display 45 so that the user can view the left display screen and the right display screen within the display 45 using the user's left eye and right eye, respectively. While viewing the image of the surgical site, typically on a suitable viewer or display, the surgeon performs a surgical procedure on the patient by manipulating a master input device, which in turn controls the movement of the robotic instrument.

[0026] The surgeon console 50 also includes left and right input devices 41, 42, which a user can grasp with his / her left and right hands, respectively, to manipulate devices (e.g., surgical instruments) held by the robotic manipulator arm assemblies 120, 130, 140, and 150 of the patient side cart 100 with preferably six or more degrees of freedom (“DOF”). A foot pedal 44 with toe and heel controls is provided on the surgeon console 50 so that the user can control the movement and / or actuation of the device associated with the foot pedal.

[0027] For control and other purposes, a processing device 43 is provided in the surgeon console 50. The processing device 43 performs various functions in the medical robotic system. One function performed by the processing device 43 is to translate and transmit the mechanical motion of the input devices 41, 42 to actuate their respective joints in their associated robotic manipulator arm assemblies 120, 130, 140 and 150 so that the surgeon can effectively manipulate devices such as surgical instruments. Another function of the processing device 43 is to implement the methods, cross-coupled control logic and controllers described herein.

[0028] The processing device 43 may include one or more processors, digital signal processors (DSPs), field programmable gate arrays (FPGAs), and / or microcontrollers, and may be implemented as a combination of hardware, software, and / or firmware. Moreover, its functions described herein may be performed by one unit or divided among several subunits, each of which may then be implemented by any combination of hardware, software, and firmware. In addition, although shown as part of or physically adjacent to the surgeon's console 50, the processing device 43 may also be distributed throughout the telesurgical system as subunits. One or more of the subunits may be physically remote from the telesurgical system (e.g., located on a remote server).

[0029] Also refer to Figure 3 , the robotic manipulator arm assemblies 120, 130, 140, and 150 can manipulate devices such as surgical instruments to perform MIS. For example, in the depicted arrangement, the robotic manipulator arm assembly 120 is pivotally coupled to the instrument holder 122. The cannula 180 and the surgical instrument 200 are in turn releasably coupled to the instrument holder 122. The cannula 180 is a hollow tubular member that is located at the patient interface site during surgery. The cannula 180 defines a lumen in which the elongated shaft 220 of the surgical instrument 200 is slidably disposed. As further described below, in some embodiments, the cannula 180 includes a distal portion having a body wall retractor member. The instrument holder 122 is pivotally coupled to the distal end of the robotic manipulator arm assembly 120. In some embodiments, the pivotable coupling between the instrument holder 122 and the distal end of the robotic manipulator arm assembly 120 is a motorized joint actuatable from the surgeon console 50 and the processor 43.

[0030] The instrument holder 122 includes an instrument holder frame 124, a sleeve clamp 126, and an instrument holder bracket 128. In the depicted embodiment, the sleeve clamp 126 is fixed to the distal end of the instrument holder frame 124. The sleeve clamp 126 can be actuated to couple with the sleeve 180 or decouple / disengage from the sleeve 180. The instrument holder bracket 128 is movably coupled to the instrument holder frame 124. More specifically, the instrument holder bracket 128 can be linearly translated along the instrument holder frame 124. In some embodiments, the movement of the instrument holder bracket 128 along the instrument holder frame 124 is a motorized translation movement that can be actuated / controlled by the processor 43. The surgical instrument 200 includes a transmission assembly 210, an elongated shaft 220, and an end effector 230. The transmission assembly 210 can be releasably coupled to the instrument holder bracket 128. The shaft 220 extends distally from the transmission assembly 210 . The end effector 230 is disposed at the distal end of the shaft 220 .

[0031] The shaft 220 defines a longitudinal axis 222 that coincides with the longitudinal axis of the cannula 180. As the instrument holder bracket 128 translates along the instrument holder frame 124, the elongated shaft 220 of the surgical instrument 200 moves along the longitudinal axis 222. In this manner, the end effector 230 may be inserted and / or retracted from a surgical workspace within a patient.

[0032] The surgical workspace (surgical site) inside the patient's body can be presented to the surgeon via the stereoscopic display 45. Although the technology described herein mainly uses the example of a peer stereoscopic display, other types of stereoscopic and non-stereoscopic displays are also within the scope of the present technology. A peer stereoscopic display refers to a display that allows a user to view the display without having to wear the display or allows the display to be shared with another user at the same time. A stereo microscope can be an example of a peer stereoscopic display. Figure 2 As shown, stereoscopic display 45 is another example of a peer-to-peer stereoscopic display.

[0033] In some embodiments, peer-to-peer stereoscopic display 45 may include two display screens (one for each eye) and corresponding folding mirrors for reflecting images presented on the display screens toward eyepieces 46 and 47 . Figure 4 4 is a schematic diagram of an example of a display device having a folded optical path. Specifically, Figure 4The user is shown gazing at eyepiece 46 and eyepiece 47. In the viewing device for the right eye, light is emitted from display device 408, reflects off reflective surface 406, and passes through eyepiece 47 before reaching the user's right eye 147. Similarly, in the viewing device for the left eye, light emitted from display device 409 reflects off reflective surface 407 and passes through eyepiece 46 before reaching the user's left eye 146. The relative angles of each set of reflective surfaces and display devices and / or the relative angles between the reflective surfaces can be configured in various ways. For example, the relative angles can be adjusted so that the user perceives the image presented on the display device as coming from a position directly in front. By allowing the display device and the reflective surface to be set at an angle to each other, a device with a folded optical path (e.g., a device as shown in schematic 400) facilitates the use of a display size that is larger than the display size that would be allowed in the following case: two displays are set side by side at a position directly in front of the user. Similarly, if placed directly in front, the two displays may intersect each other.

[0034] In some embodiments, in addition to the size of the display device, the user's field of view can also be defined by the lens assemblies 404 and 405 used in the corresponding viewing device. In some embodiments, the field of view of the viewing device can be improved by configuring the lens assembly field of view so that the entire field of view provided by the corresponding display device is captured by the lens assembly. In some embodiments, this may require positioning the display device closer to the lens assembly, which in turn may result in a line of sight path between the eyepiece and the corresponding display device. Examples of such configurations are shown in FIG. Figure 5A and Figure 5B shown in . Specifically, Figure 5A 4 shows a configuration in which light emitted from point 521 on display device 408 travels both a line-of-sight path (as shown by ray path 520) and a folded light path (as shown by ray path 530) facilitated by reflective surface 406. Each of the line-of-sight path and the folded light path can be collected by lens assembly 404 and passed toward the user's eye 501. If the position of eye 501 is as shown in FIG. Figure 5A As shown in , the light received via the line of sight path 520 and the folded light path 530 enters the eye 501 through the pupil. As a result, the user perceives two different images corresponding to the same point 521 on the display device 408.

[0035] In some cases, the double image perceived by eye 501 may depend on the position of the eye relative to the corresponding lens assembly 404. For example, if the position of eye 501 is such as Figure 5B As shown, the line of sight ray path 520 is changed and oriented. Figure 5AIn some such cases, line of sight ray path 520 may not intersect the area of ​​the pupil of eye 501, and thus the user may no longer perceive the corresponding image at point 521 of display 408. If the user's head and / or eye position changes again, or the pupil dilates in such a way that line of sight ray path 520 again intersects the area of ​​the pupil, the user may again see the second image.

[0036] The above examples show how a user may perceive a double image depending on the position of the eye when viewing a near-eye display, and how eye rotation, eye movement, pupil dilation, or even subtle changes in pupil position (as may occur, for example, during head movement relative to the display) may cause the double image to appear or disappear. Furthermore, this problem may be detrimental because not all users may be able to perceive the problem, and even when perceived, the artifact may disappear when attempting to view it directly. For some users, such display problems may greatly impair the long-term comfort and usability of the display device.

[0037] In some embodiments, the polarization of light passing through the lens assembly can be controlled in such a way that light that traverses the folded optical path (i.e., reflects off the reflective surface) passes through, but light that traverses the line-of-sight ray path is absorbed by the arrangement of one or more polarizers disposed in the optical path. The polarization state of light that traverses the line-of-sight ray path is different from the polarization state of light that reflects off the reflective surface. Therefore, one or more polarizers can be appropriately disposed in the optical path of the viewing device such that the one or more polarizers allow light that traverses the line-of-sight path to pass through while blocking reflected light.

[0038] Polarizers used to selectively block light that traverses the line-of-sight path can be of various types. In some embodiments, a set of one or more linear polarizers can be used to block light that traverses the line-of-sight path. In some embodiments, linearly polarized light emitted from a display device can first be circularly (or elliptically) polarized, and then a set of circular (or elliptical) polarizers can be used to selectively block circularly polarized light that traverses the line-of-sight path. The choice of linear or circular polarization methods for a particular application / device can depend on various factors such as the requirements and performance goals of the system. For example, in some cases, the linear polarization method can require simpler materials and / or provide better suppression of false double images than the circular polarization method. On the other hand, in some cases, the circular polarization method can potentially better preserve the brightness of the image and is therefore preferable to the linear method.

[0039] Figure 6 is a schematic diagram of an example device 600 using one or more circular polarizers according to the techniques described herein. Figure 6, the display device 408 is a display that emits linearly polarized light. An LCD is an example of such a display. Therefore, the device 600 includes an optical element 601 that converts linearly polarized light into circularly polarized light. In some embodiments, the device 600 includes a quarter wave plate 601 that is set in an appropriate orientation relative to the linear polarization of the light emitted from the display 408 so that the light produces circular polarization 605. The quarter wave plate 601 may include a birefringent material (e.g., a polymer, quartz, or mica) for which the refractive index is different for different orientations of light passing through it. An appropriate wave plate 601 can be selected (e.g., based on the thickness of the material and the change in the refractive index for the wavelength of light passing through the wave plate) to introduce a controlled phase shift to the light emitted from the display device 408, thereby changing its polarization. In Figure 6 In the example shown, a clockwise arrow is used to indicate the circular polarization direction (also referred to herein as "handedness") 605 of the light emerging from the wave plate 601. After reflection from the reflective surface 406, the direction or handedness of the light is reversed. Figure 6 In the example of FIG. 6 , the circular polarization state 610 is represented using a counterclockwise arrow.

[0040] Device 600 also includes a circular polarizer 607 disposed in the optical path of device 600 to selectively pass light having circular polarization state 610 but block light having circular polarization state 605. In some embodiments, circular polarizer 607 can be disposed between eye 501 and lens assembly 404. In some embodiments, circular polarizer 607 can be disposed in the optical path between lens assembly 404 and reflector or reflective surface 406. In either case, light traversing folded optical path 530 initially exits wave plate 601 having circular polarization state 605, but upon reflection from reflective surface 406, its circular polarization state is reversed to state 610. The light then passes through circular polarizer 607 disposed on one side or the other of lens assembly 404. Because the handedness or orientation of circular polarizer 607 selectively passes light having polarization state 610, light traversing the folded optical path reaches the user's eye via ray path 615. However, because the handedness or polarization state 605 is orthogonal to the handedness or polarization state of the circular polarizer 607, light traversing the line-of-sight ray path from the display device 408 is substantially absorbed or blocked by the circular polarizer 607. In some embodiments, where a quarter wave plate of the polarizer 607 is disposed in the light path between the lens assembly 404 and the reflective surface 406, a linear polarizer can be disposed between the eye 501 and the lens assembly 404 to absorb or block unwanted light.

[0041] In some embodiments, if the display device 408 is essentially non-polarized, a properly oriented linear polarizer can be disposed adjacent to the display device 408 to linearly polarize the light emitted from the display device 408. For example, if the display device 408 is an organic light emitting diode (OLED) display, the linear polarizer can be disposed between the display device 408 and the quarter wave plate 601. In some embodiments, the quarter wave plate 601 and the linear polarizer can be combined in one optical unit to implement a circular polarizer for the display device 408. In some embodiments, because the angle of light emitted from the display device 408 may be oblique, the orientation of the quarter wave plate 601 and / or the circular polarizer 607 may have to be adjusted to achieve a target contrast between the perceived image and the unwanted image. This can balance the effect on color fidelity, which can sometimes be reduced due to the non-achromatic performance of the polarization component.

[0042] In some embodiments, one or more linear polarizers can be used to selectively pass light that traverses the folded light path while blocking light that traverses the direct line-of-sight ray path. Fig. 7A and Figure 7B 4 is a schematic diagram of an example device using such a linear polarization method. In these examples, display device 408 is an inherently polarized display such as an LCD. In some embodiments, display device 408 can emit light that is linearly polarized diagonally relative to the horizontal axis of the display. Fig. 7A and Figure 7B , such a diagonal polarization state is indicated using reference numeral 705. In some embodiments, if the display device 408 is linearly polarized rather than diagonally polarized, a wave plate can be disposed adjacent to the display device 408 to cause the emitted light to produce a diagonal polarization. In some embodiments, a supplemental linear polarizer can be added to cause the emitted light to produce a diagonal polarization. In some such cases, the display device 408 may appear dimmer, but if the display device is bright enough, the dimming may not be noticeable. In some embodiments, the orientation of the display device 408 can be adjusted so that the polarization axis is aligned with the edge of the display so that the emitted light produces the desired diagonal polarization.

[0043] In any case, the light emitted from display device 408 can be configured such that the light is linearly polarized at an angle relative to the horizon (e.g., 45 degrees as represented by polarization state 705). When the light reflects off reflective surface 406, the polarization state of the light is reversed, and the reflected light in folded optical path 530 has polarization state 710 (e.g., 45 degrees as represented by polarization state 705). Fig. 7A and Figure 7B , which is orthogonal to polarization state 705). Fig. 7AIn the example device 700 shown in FIG. 5 , a linear polarizer 707 disposed between the eye and the lens assembly 404 is oriented such that the linear polarizer 707 allows reflected light having polarization state 710 to pass therethrough (as shown by ray path 715), while preventing light that traverses the line-of-sight ray path 520 from passing therethrough. This may result in the line-of-sight view being substantially blocked for the eye 501, such that it can only observe the image reflected from the reflective surface 406. Thus, the blocking of the line-of-sight view may substantially mitigate double image artifacts, which in turn may improve the long-term usability of the corresponding viewing device.

[0044] Figure 7B An example of device 750 is shown in which linear polarizer 707 is disposed between lens assembly 404 and reflective surface 406. In some embodiments, linear polarizer 707 (or a device similar to Figure 6 This position of the circular polarizer in the device shown in ) can provide more eye relief for some users.

[0045] The techniques of the present invention are described above primarily with reference to a single viewing device. However, for stereoscopic display devices, a similar second viewing device may be provided for the user's other eye. In particular, for computer-assisted teleoperated surgical systems (in Figure 1 ), an example of which is depicted in , a stereoscopic viewing device may include a first display component and a second display component for presenting a first image and a second image, respectively, of a set of two stereoscopic images associated with a surgical operating scene. Each of the first display component and the second display component may include a corresponding lens assembly; a display device configured to present the corresponding image; and a reflective surface (e.g., a mirror) oriented at an acute angle relative to the corresponding display device so that light from the display device is reflected from the first reflector toward the lens assembly. The lens assembly includes a polarizer (e.g., a linear polarizer or a circular polarizer) on each side, which is configured so that light reflected from the reflective surface passes through the lens assembly, and light that is not reflected from the reflective surface that reaches the polarizer is substantially blocked. In some embodiments, the polarization state of light emitted from the lens assembly can be controlled to enable the present technology to be used with polarized glasses. For example, referring to Fig. 7A and Figure 7B The described diagonal polarization technique can be used to control the polarization state to enable viewing using polarized glasses such as those used for 3D viewing in movie theaters.

[0046] In some embodiments, a computer-assisted, teleoperated surgical system including a viewing device as described above may also include one or more processing devices that facilitate the presentation of a stereoscopic image corresponding to the surgical site on a display device. The one or more processors may also facilitate the operation of the surgical system to perform a surgical procedure at the surgical site. For example, the surgical system may include one or more input devices configured to receive user input associated with the surgical procedure in response to presenting the surgical site on a display device of the viewing device. The one or more processing devices may then be configured to control a robotically controllable surgical instrument based on the user input.

[0047] The functions of the remotely operated surgical system described herein, or portions thereof, and various modifications thereof (hereinafter referred to as "functions") may be implemented at least in part via a computer program product (e.g., a computer program tangibly embodied in an information carrier such as one or more non-transitory machine-readable media or storage devices) to be executed by one or more data processing devices (e.g., a programmable processor, a DSP, a microcontroller, a computer, multiple computers and / or a programmable logic component) or to control the operation of the one or more data processing devices.

[0048] A computer program may be written in any form of programming language (including compiled or interpreted languages) and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment. A computer program may be deployed to be executed on one or more processing devices at one site, or distributed across multiple sites and interconnected by a network.

[0049] The actions associated with implementing all or part of the functions may be performed by one or more programmable processors or processing devices executing one or more computer programs to perform the functions of the processes described herein. All or part of the functions may be implemented as a dedicated logic circuit system such as an FPGA and / or an ASIC (Application Specific Integrated Circuit).

[0050] Processors suitable for the execution of a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processors of any kind of digital computer. Generally, a processor will receive instructions and data from a read-only memory or a random access memory, or both. The components of a computer include a processor for executing instructions and one or more memory devices for storing instructions and data.

[0051] Although this specification contains many specific implementation details, these should not be interpreted as limitations on what is claimed, but rather as descriptions of features specific to a particular embodiment. Other embodiments may also be within the scope of the technology described herein. For example, although the technology has been described with reference to two reflectors and a single reflector reflection, the technology can be extended to any odd number of reflectors without departing from the scope of the present disclosure. Certain features described in this specification in the context of separate embodiments may also be implemented in combination in a single embodiment. Conversely, the various features described in the context of a single embodiment may also be implemented separately in multiple embodiments or in any suitable sub-combination. Moreover, although features may be described herein as working in certain combinations, even combinations initially claimed, in some cases one or more features of the claimed combination may be cut out from the combination, and the claimed combination may involve a sub-combination or a variant of a sub-combination.

[0052] The elements of the different embodiments described herein can be combined to form other embodiments not specifically set forth above. Elements can be excluded from the structure described herein without adversely affecting the operation of the structure. In addition, various separate elements can be combined into one or more individual elements to perform the functions described herein.

Claims

1. A viewing device for surgical equipment, the device comprising: a lens assembly comprising a first polarizer; a display device configured to present an image of a surgical operating scene; and a reflective surface oriented at an acute angle relative to the display device such that light from the display device is reflected from the reflective surface toward the lens assembly, The first polarizer in the lens assembly is configured such that light reflected from the reflective surface passes through the first polarizer, and sight light that is not reflected from the reflective surface and reaches the first polarizer from the display device is substantially blocked.

2. The device according to claim 1, wherein: Light from the display device is linearly polarized, and the first polarizer is a linear polarizer having a polarization state that substantially blocks line-of-sight light from reaching the first polarizer that is not reflected from the reflective surface.

3. The device according to claim 1, wherein: The reflective surface is a mirror.

4. The device according to claim 2, wherein: The polarization state is substantially 45 degrees diagonal.

5. A stereoscopic display device, comprising: A first display assembly for presenting a first image of a set of two stereoscopic images associated with a surgical operating scene, the first display assembly comprising: The first lens assembly, a first display device configured to present the first image, and a first reflector oriented at an acute angle relative to the first display device so that light from the first display device is reflected from the first reflector toward the first lens assembly, wherein the first lens assembly includes a first polarizer, the first polarizer being configured such that light reflected from the first reflector passes through the first lens assembly, and sight light that is not reflected from the first reflector and reaches the first polarizer from the first display device is substantially blocked; and A second display component, which is used to present a second image in the set of two stereoscopic images, the second display component comprising: The second lens assembly, a second display device configured to present the second image, and a second reflector oriented at an acute angle relative to the second display device so that light from the second display device is reflected from the second reflector toward the second lens assembly, The second lens assembly includes a second polarizer, and the second polarizer is configured so that light reflected from the second reflector passes through the second lens assembly, and line-of-sight light that is not reflected from the second reflector and reaches the second polarizer from the second display device is substantially blocked. 6 . The apparatus of claim 5 , further comprising a third polarizer configured to circularly polarize light from the first display device.

7. The device according to claim 6, wherein: The third polarizer is a quarter wave plate.

8. The device according to claim 5, wherein: Light from the first display device is linearly polarized, and the first polarizer is a linear polarizer having a polarization state that substantially blocks light reaching the first polarizer that is not reflected from the first reflector.

9. The device according to claim 5, wherein: The polarization state of the first polarizer is substantially the same as the polarization state of the second polarizer.

10. The device according to claim 5, wherein: The first display device is oriented at an acute angle relative to the second display device.

11. The device according to claim 5, wherein: The first display device is oriented substantially parallel to the second display device.

12. The device according to claim 5, wherein: The first display assembly and the second display assembly are disposed in a viewing station of a robotic surgical device.

13. The device according to claim 5, wherein: The first display component and the second display component are arranged in a head mounted device.

14. A surgical system comprising: A viewing device comprising: a lens assembly comprising a first polarizer, a display device configured to present an image of a surgical operating scene, and a reflective surface oriented at an acute angle relative to the display device such that light from the display device is reflected from the reflective surface toward the lens assembly, wherein the first polarizer in the lens assembly is configured such that light reflected from the reflective surface passes through the first polarizer, and sight light reaching the first polarizer from the display device that is not reflected from the reflective surface is substantially blocked; One or more processing devices configured to: operating the surgical system to perform a surgical procedure at the surgical site, and causing an image of the surgical operating scene to be presented on the display device of the viewing apparatus; and One or more input devices configured to receive user input associated with the surgical procedure in response to the surgical scene being presented on the display device of the viewing device.

15. The surgical system of claim 14, further comprising a robotically controllable surgical instrument, and the one or more processing devices are configured to control the surgical instrument based on the user input.

16. The surgical system of claim 14, wherein: The viewing arrangement further comprises a second polarizer configured to circularly polarize light from the display device.

17. The surgical system of claim 16, wherein: The first polarizer is a circular polarizer having a polarization state substantially opposite to the polarization state of the second polarizer.

18. The surgical system of claim 14, wherein: Light from the display device is linearly polarized, and the first polarizer is a linear polarizer having a polarization state that substantially blocks line-of-sight light from reaching the first polarizer that is not reflected from the reflective surface.

19. A viewing device for a surgical device, the device comprising: a lens assembly comprising a first circular polarizer; a display device configured to present an image of a surgical operating scene; a reflective surface oriented at an acute angle relative to the display device such that light from the display device is reflected from the reflective surface toward the lens assembly; and a second circular polarizer configured to circularly polarize light from the display device, Wherein, the first circular polarizer in the lens assembly is configured so that light reflected from the reflective surface passes through the first circular polarizer, and sight light that is not reflected from the reflective surface and reaches the first circular polarizer from the display device is substantially blocked.

20. The viewing device of claim 19, wherein: The polarization state of the first circular polarizer is substantially orthogonal to the polarization state of the second circular polarizer.

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