Abstract: A system may access an image that is captured by an imaging device and that depicts an operational scene illuminated by close-range light. The system may also access a depth map of the operational scene that includes depth data corresponding to each pixel in the image. Based on the depth map, the system may determine a far-range lighting coefficient for each pixel in the image based on a relationship between the corresponding depth data included in the depth map for that respective pixel and a target distance to a virtual light source that is to be simulated to be illuminating the operational scene. Based on the image and these far-range lighting coefficients, the system may generate a processed image depicting the operational scene as being illuminated by the virtual light source and may provide the processed image for presentation on a display screen. Corresponding systems and methods are also disclosed.

Abstract: A method is provided for use with a teleoperated surgical system, the method comprising: determining patient position information during a setup for a performance of the surgical procedure within an instance of the surgical system; determining a match between the determined patient position and a patient position signature; and launching a support arm control signal within the surgical system that corresponds to the matched support arm signature.

Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined. using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, of external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

Abstract: A lighting emulation system accesses an image that is captured by an imaging device and that depicts an operational scene illuminated by close-range light. The lighting emulation system accesses a depth map of the operational scene that includes depth data corresponding to each pixel in the image. Based on the depth map, the lighting emulation system determines a far-range lighting coefficient for each pixel in the image. Specifically, the far-range lighting coefficient for each respective pixel is determined based on the corresponding depth data included in the depth map for that respective pixel. Based on the image and the far-range lighting coefficient for each pixel in the image, the lighting emulation system generates a processed image depicting the operational scene as illuminated by far-range lighting, and provides the processed image for presentation on a display screen.

Abstract: A system may comprise an image capture device to capture an image of a work site. The system may also comprise a processor to determine whether a tool disposed at the work site is energized and determine a first area of the captured image of the work site, including or adjacent to an image of a portion of the tool in the captured image. The processor may also determine a second area of the captured image including a remainder of the captured image that does not include the first area. Conditioned upon determining that the tool is energized, at least one of the first area and the second area of the captured image of the work site may be processed to indicate that the tool in the first area is being energized. The image of the work site with the first area and the second area may be displayed.

Abstract: A method is provided for use with a teleoperated surgical system, the method comprising: determining patient position information during a setup for a performance of the surgical procedure within an instance of the surgical system; determining a match between the determined patient position and a patient position signature; and launching a support arm control signal within the surgical system that corresponds to the matched support arm signature.

Abstract: A system comprises a teleoperational assembly including an operator control system and a first teleoperational manipulator configured for operation by an operator control device of the operator control system. The first teleoperational manipulator is configured to control the operation of a first medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to display an image of a field of view of the surgical environment and display a menu proximate to an image of the first medical instrument in the image of the field of view. The menu includes at least one icon representing a function for the first medical instrument.

Abstract: A system may comprise an image capture device disposed to capture an image of a work site, a display, and a processor. The processor may be configured to determine whether a tool disposed at the work site is energized and determine an area of the captured image of the work site, including or adjacent to an image of a portion of the tool in the captured image, to be filtered to indicate the tool has been energized. Conditioned upon determining that the tool is energized, the processer may also filter the area of the captured image of the work site to generate a filtered area of the captured image of the work site so as to create a glowing effect on the image of the portion of the energized tool, indicating that the tool is being energized. The image of the work site with the filtered area may be displayed on the display.

Abstract: A system determines that a change in luminance of captured frames of a scene in response to a change in illumination brightness of the scene is less than a threshold value and commands, based on the determination that the change in luminance of the captured frames of the scene is less than the threshold value, attenuation of the illumination brightness of the scene.

Abstract: A medical imaging system comprises a teleoperational assembly which includes a medical instrument including an instrument tip and an imaging instrument including an imaging instrument tip. The medical imaging system also comprises a processing unit including one or more processors. The processing unit may be configured to determine an instrument tip position for the instrument tip, determine an instrument tip position error relative to the imaging instrument, and determine at least one instrument tip bounding volume based on the determined instrument tip position, the determined instrument tip position error, and a ratio between an error radius of the instrument tip position error and a size of a display screen.

Abstract: An exemplary processing system of a computer-assisted surgical system identifies an object in a surgical space, accesses a model of the object, identifies a pose of the object in the surgical space, aligns the model with the pose of the object to define depth data for the model in the surgical space, and generates a depth map in the surgical space for at least a portion of the object based on the depth data for the model. Corresponding systems and methods are also described.

Abstract: A method comprises displaying an image of a field of view of a surgical environment. A first medical instrument in the field of view may be coupled to a first manipulator in a teleoperational assembly. The method may comprise displaying a menu proximate to an image of the first medical instrument in the image of the field of view. The menu may include a plurality of icons wherein each icon is associated with a function for the first medical instrument. The method may also comprise identifying a selected icon from the plurality of icons based upon a movement of an operator control device of a teleoperational operator control system.

Abstract: A system includes a controller communicatively coupled to an illuminator and to a camera configured to capture a scene including tissue. The controller may change the output optical power of the illuminator from a first output optical power to a second output optical power so that a subsequently captured frame is captured by the camera from reflected light, the reflected light being light from the illuminator having the second output optical power prior to being reflected. The controller may determine that an endoscope contacted the tissue if the change of the output optical power of the illuminator results in a change of a reflected luminance that is less than a predetermined threshold, the change of the reflected luminance being a change from a first reflected luminance for the first output optical power to a second reflected luminance for the second output optical power.

Abstract: A medical imaging system comprises a teleoperational assembly configured to control the movement of a medical instrument including an instrument tip and a processing unit including one or more processors. The processing unit is configured to determine an instrument tip position and determine a position error associated with the instrument tip position. The processing unit is also configured to determine at least one instrument tip bounding volume based upon the position error and determine if the instrument tip is within a field of view of an imaging instrument.

Abstract: A medical system comprises a control system and a display device coupled to the control system. The control system comprises a processor and a memory comprising machine readable instructions that, when executed by the processor, cause the control system to generate a primary image of an anatomic structure and manipulate a therapeutic instrument to deliver a therapy to the anatomic structure. The control system also determines an effect of the therapy on the anatomic structure and displays a representation of the effect of the therapy in an auxiliary image registered with the primary image of the anatomic structure.

Abstract: A lighting emulation system accesses an image that is captured by an imaging device and that depicts an operational scene illuminated by close-range light. The lighting emulation system accesses a depth map of the operational scene that includes depth data corresponding to each pixel in the image. Based on the depth map, the lighting emulation system determines a far-range lighting coefficient for each pixel in the image. Specifically, the far-range lighting coefficient for each respective pixel is determined based on the corresponding depth data included in the depth map for that respective pixel. Based on the image and the far-range lighting coefficient for each pixel in the image, the lighting emulation system generates a processed image depicting the operational scene as illuminated by far-range lighting, and provides the processed image for presentation on a display screen.

Abstract: An imaging system is provided for pixel-level segmentation of images comprising: a camera to capture images of an N anatomical object and to represent the images in two-dimensional (2D) arrangements of pixels; one or more processors and a non-transitory computer readable medium with information including: CNN instructions to cause the one or more processors to implement a CNN configured to associate anatomical object classifications with pixels of the 2D arrangements of pixels; and multiple sets of N weights, to differently configure the CNN based upon different camera image training data; and a display screen configured to display the two-dimensional (2D) arrangements of classified pixels and the anatomical object classifications.

Abstract: An illumination source may be coupled to an image capture device through a connector. A light sensor is placed downstream of the connector to measure the light received by the image capture device from the illumination source. The light sensor provides the measurement of the received light to the illumination source for closed-loop control of illumination source. The light sensor may be positioned in a camera housing to take into account light attenuation from the illumination source to the camera. The light sensor may be positioned at other locations on the image capture device. Multiple light sensors may be positioned at different locations on the image capture device to detect sources or locations of attenuation. Redundant light sensors of more than one type of sensor may be used at a single light sensor location to provide for validation of measurements and increase the variety of information measured.

Abstract: A surgical system comprises a network accessible database configured to store calibration data for an endoscopic image capture device. The surgical system also comprises an image processor configured to be communicatively coupled to the endoscopic image capture device to receive image data of a surgical site during a surgical or diagnostic procedure. The image processor is configured to retrieve the calibration data from the network accessible database via a network connection. The image processor is further configured to process the received images based on the retrieved calibration data. The surgical system further comprises a user control system coupled to the image processor and configured to receive the processed images from the image processor. The user control system comprising a display configured to display the processed images. The calibration data is periodically or dynamically updated on the database to account for changes in the surgical system or new calibration methodologies.

Abstract: A robotic system includes a robotic arm configured to support an image capture device, the image capture device configured to capture source video of a field of view of the image capture device. The robotic system further includes a display device, and a processor communicatively coupled to the robotic arm and the display device. The processor is configured to render, on the display device, a first spatial subset of the source video, the first spatial subset corresponding to a first region of the field of view, and in response to a control signal to change the rendering: cause the robotic arm to move the image capture device and change the field of view captured by the source video, and render, on the display device, a second spatial subset of the source video, the second spatial subset corresponding to a second region of the field of view.