Stereo Telestration for Robotic Surgery Depth Perception
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Solution Overview
Problem
In robotic surgery, traditional telestration systems provide only mono-visual images, which can cause confusion and eye fatigue for surgeons, as they lack the depth perception necessary for effective guidance during minimally invasive procedures.
Innovation Solution
A stereo telestration system that overlays mono-view telestration images onto stereo surgical images, allowing both left and right channels of video signals to be processed and displayed, providing three-dimensional annotations for enhanced depth perception and clarity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If mono-visual telestration images are displayed on a single monitor, then the device complexity is reduced, but the depth perception and surgical precision are compromised
Solution Approach 1:
The patent transitions from a two-dimensional mono-visual display to a three-dimensional stereo-visual display by presenting separate left and right channel images through a stereo viewer. This dimensional change enables depth perception while maintaining the telestration annotation function, thereby improving surgical precision without significantly increasing overall system complexity.
2Ease of operation
If mono-visual telestration images are used, then the ease of operation is improved, but the surgeon's ability to perceive depth is reduced
Solution Approach 1:
The patent segments the single mono-visual telestration image into separate left and right channel images. Each channel is processed independently and displayed through the stereo viewer, allowing the surgeon to perceive depth through binocular vision while maintaining the ease of operation since the telestration function remains intuitive and straightforward.
3Manufacturing precision
If stereo telestration images are displayed on separate left and right monitors, then the depth perception is improved, but the device complexity increases
Solution Approach 1:
The patent merges the left and right channel display into a single integrated stereo viewer that presents both channels simultaneously. This combining approach provides depth perception through stereo vision while avoiding the complexity of separate monitor setups, as the stereo viewer handles both channels in one unified device.
Data Source
AI summary
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.