Monocular Endoscope 3D Rendering With Confidence Shading
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Solution Overview
Problem
Surgical robotic systems face challenges in providing high-quality stereoscopic endoscopic video due to the impracticality of using endoscopes with two optical channels, which are larger and cumbersome, especially in minimally-invasive surgeries requiring small endoscopes or endoluminal endoscopy.
Innovation Solution
A surgical robotic system that uses algorithms to predict stereoscopic video from monocular endoscopes, generating a stereoscopic video feed by rendering multiple views and overlaying confidence shading on predicted images based on certainty of predictions, utilizing neural networks and 3D mapping techniques.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If stereoscopic endoscopes with two optical channels are used, then depth perception and surgical precision are improved, but endoscope size and device complexity increase making them impractical for minimally-invasive surgery
Solution Approach 1:
The patent creates a virtual copy of the stereoscopic viewing experience by using computer vision algorithms to generate synthetic depth information from monocular video feeds. Instead of physically duplicating optical channels, the system computationally synthesizes what a second viewpoint would see, providing stereoscopic depth perception while maintaining a single compact endoscope.
Solution Approach 2:
The patent replaces the mechanical/optical system of dual-channel endoscopes with a computational system. Rather than using physical second optical channels and complex lens arrangements, the system uses image processing algorithms, depth estimation networks, and virtual rendering to create stereoscopic效果, substituting mechanical complexity with computational processing.
2Measurement precision
If stereoscopic endoscopes with two optical channels are used, then depth perception is improved, but device complexity increases making them impractical for minimally-invasive surgery
Solution Approach 1:
The patent creates a virtual copy of the stereoscopic viewing experience by using computer vision algorithms to generate synthetic depth information from monocular video feeds. Instead of physically duplicating optical channels, the system computationally synthesizes what a second viewpoint would see, providing stereoscopic depth perception while maintaining a single compact endoscope.
Solution Approach 2:
The patent replaces the mechanical/optical system of dual-channel endoscopes with a computational system. Rather than using physical second optical channels and complex lens arrangements, the system uses image processing algorithms, depth estimation networks, and virtual rendering to create stereoscopic效果, substituting mechanical complexity with computational processing.
3Volume of moving object
If monocular endoscopes are used, then endoscope size and device complexity are reduced, but depth perception and surgical precision are lost
Solution Approach 1:
The patent replaces the mechanical/optical system of dual-channel endoscopes with a computational system. Rather than using physical second optical channels and complex lens arrangements, the system uses image processing algorithms, depth estimation networks, and virtual rendering to create stereoscopic效果, substituting mechanical complexity with computational processing.
Solution Approach 2:
The patent introduces computational algorithms and virtual rendering as an intermediary between the monocular video feed and the surgeon's view. This intermediary layer processes the single-channel input to generate synthetic depth information and stereoscopic pairs, mediating the transformation from 2D monocular input to 3D stereoscopic output without requiring physical dual-channel hardware.
4Device complexity
If monocular endoscopes are used, then device complexity is reduced, but surgical precision and surgeon immersion are impaired
Solution Approach 1:
The patent replaces the mechanical/optical system of dual-channel endoscopes with a computational system. Rather than using physical second optical channels and complex lens arrangements, the system uses image processing algorithms, depth estimation networks, and virtual rendering to create stereoscopic效果, substituting mechanical complexity with computational processing.
Solution Approach 2:
The patent introduces computational algorithms and virtual rendering as an intermediary between the monocular video feed and the surgeon's view. This intermediary layer processes the single-channel input to generate synthetic depth information and stereoscopic pairs, mediating the transformation from 2D monocular input to 3D stereoscopic output without requiring physical dual-channel hardware.
Data Source
AI summary
A surgical robotic system includes an image processing device configured to receive an endoscopic video feed and generate a stereoscopic video feed with confidence shading overlays on display. The confidence shading is based on a level of confidence associated with uncertain regions within images making up the stereoscopic video feed.