Abstract: A system accesses first imagery of a surgical space captured by a first imaging modality and second imagery of the surgical space captured by a second imaging modality, accesses and uses tracking information for a device coupled to a manipulating system of a computer-assisted surgical system to determine a pose of the device in the surgical space, determines, based on the pose of the device, a position of an augmentation region relative to the surgical space, and generates a composite image of the surgical space based on the first imagery, the second imagery, and the position of the augmentation region. The composite image includes, outside the augmentation region, a representation of a first portion of the surgical space as captured by the first imaging modality, and, inside the augmentation region, a representation of a second portion of the surgical space as captured by the second imaging modality.

Abstract: A system directs a display device to display a first image including an image captured by an imaging device and showing a view of a surgical area and an augmentation region showing supplemental content. The augmentation region creates an occlusion over a portion of the view of the surgical area. After displaying the first image, the system detects an overlap between at least a portion of an object located at the surgical area and at least a portion of the augmentation region and directs, in response to the detection of the overlap, the display device to display a second image. The second image does not include the augmentation region, or the second image includes the augmentation region and at least one of a size or an opacity of the augmentation region in the second image is decreased relative to the augmentation region in the first image.

Abstract: A system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to generate a current endoscopic video image of a surgical environment, capture an image from the current endoscopic video image, display the current endoscopic video image and the captured image in a common display, and perform an action with the captured image in response to a user input.

Abstract: A computer-assisted surgical system includes a manipulator arm configured to be coupled to an ultrasound probe and to position the ultrasound probe within a patient and one or more processors configured to perform a process comprising: generating an ultrasound image based on sound waves detected by the ultrasound probe while located within the patient; determining, based on an analysis of the ultrasound image, a contact state of the ultrasound probe, the contact state indicating whether the ultrasound probe is in operative physical contact with tissue of the patient; and controlling, based on the contact state, a positioning of the ultrasound probe.

Abstract: A computer-assisted surgical system is configured to perform a process comprising: generating an ultrasound image; determining a plurality of local descriptor values each corresponding to a different pixel included in a plurality of pixels included in an ultrasound image, the plurality of pixels including at least a first pixel corresponding to a first local descriptor value included in the plurality of local descriptor values and a second pixel corresponding to a second local descriptor value included in the plurality of local descriptor values; and classifying each pixel in the plurality of pixels individually as either showing tissue or showing non-tissue, the classifying comprising classifying the first pixel as showing tissue or showing non-tissue based only on the first local descriptor value and classifying the second pixel as showing tissue or showing non-tissue based only on the second local descriptor value.

Abstract: A system comprises a processor. The system also comprises a memory having computer readable instructions stored thereon, the computer readable instructions, when executed by the processor, cause the system to receive an image captured by an imaging device, receive first and second marked points in the captured image, generate a marked image including the first and second marked points and the captured image, and generate a curvilinear segment contoured to a three-dimensional surface model between the first and second marked points. The marked image includes the contoured curvilinear segment.

Abstract: A system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to generate a current endoscopic video image of a surgical environment, capture an image from the current endoscopic video image, display the current endoscopic video image and the captured image in a common display, and perform an action with the captured image in response to a user input.

Abstract: An illustrative system is configured to render, based on depth data representative of a depth map for a scene and within a 3D image depicting the scene, a telestration element at a 3D position within the scene, the 3D image acquired by an imaging device while the imaging device is aimed at an internal space of a patient; and display, within an additional 3D image acquired by the imaging device while the imaging device is aimed at a different internal space of the patient that does not depict the 3D position within the 3D image where the telestration element was rendered, a directional graphical indicator that points in a direction of the 3D position within the 3D image where the telestration element was rendered.

Abstract: A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive endoscope calibration data, generate a virtual camera based on the calibration data, generate an endoscopic image, receive first and second marked points in the endoscopic image, and determine if a three-dimensional surface model has been generated. If a surface model has been generated, a perturbation in the virtual camera is generated. A curvilinear segment on the surface model may be generated between the first and second marked points and a mixed reality image, including the curvilinear segment and the endoscopic image, may be generated.

Abstract: An exemplary system is configured to detect user input directing a telestration element to be drawn within an image depicting a surface within a scene; render, based on depth data representative of a depth map for the scene and within a three dimensional (3D) image depicting the surface within the scene, the telestration element; record a 3D position within the scene at which the telestration element is rendered within the 3D image; detect a telestration termination event that removes the telestration element from being rendered within the 3D image; and indicate, subsequent to the telestration termination event, an option to again render the telestration element at the 3D position.

Abstract: An exemplary image management system accesses semantic information regarding an anatomical object in a surgical scene, wherein the semantic information includes a current phase of a procedure performed on the anatomical object and registers, based at least in part on the semantic information regarding the anatomical object, an image of the surgical scene with a model of the anatomical object.

Abstract: The present disclosure describes a system that allows control from two different consoles of a surgical robot. The system includes the surgical robot, a first console, a second console, and a computer system including a memory and a controller communicatively coupled to the memory. The controller of the system communicates, to the first console and the second console, video of a surgical site for the surgical robot based on determining that both the first console and the second console are operating in a first mode. The controller of the system, based on determining that the first console transitioned from operating in the first mode to operating in a second mode while the second console operates in the first mode, communicates, to the first console, video of a digital menu of applications while continuing to communicate video of the surgical site to the second console.

Abstract: An exemplary image management system accesses semantic information regarding an anatomical object in a surgical space and registers, based at least in part on the semantic information regarding the anatomical object, a first dataset of a first visual representation of the surgical space with a second dataset of a second visual representation of the surgical space.

Abstract: An illustrative system is configured to determine that a particular object is present at a site depicted by a first version of an image during a medical procedure, access content associated with the particular object, and augment, using the content associated with the particular object and based on an operational context of the medical procedure, a depiction of the particular object within a second version of the image that is presented to a user associated with the medical procedure.

Abstract: An illustrative system is configured to instruct a display device to render a virtual medical element representative of a physical medical element over a target region within an image of an internal space of a patient, the target region depicting an anatomical surface to be covered by the physical medical element; receive, while the virtual medical element is rendered over the target region, user input that sets at least one of a pose of the virtual medical element within the image or a size of the virtual medical element; and determine, based on the user input and on depth data representative of a depth map for the internal space, physical dimensions for the physical medical element.

Abstract: An illustrative system may be configured to obtain an endoscopic image of an anatomical scene, the endoscopic image captured by an endoscope and depicting an imaging probe located at the anatomical scene; detect that the imaging probe contacts tissue at the anatomical scene; augment the endoscopic image with a synthetic element in response to detecting that the imaging probe contacts tissue at the anatomical scene, the synthetic element indicating, within the endoscopic image, an area of the anatomical scene being imaged by the imaging probe; and direct a display device to display the augmented image. The system may be further configured to direct the display device to display, at a position outside of the synthetic element, a probe image captured by the imaging probe.

Abstract: A computer-assisted surgical system is configured to perform a process comprising: generating an ultrasound image; determining a plurality of local descriptor values each corresponding to a different pixel included in a plurality of pixels included in an ultrasound image, the plurality of pixels including at least a first pixel corresponding to a first local descriptor value included in the plurality of local descriptor values and a second pixel corresponding to a second local descriptor value included in the plurality of local descriptor values; and classifying each pixel in the plurality of pixels individually as either showing tissue or showing non-tissue, the classifying comprising classifying the first pixel as showing tissue or showing non-tissue based only on the first local descriptor value and classifying the second pixel as showing tissue or showing non-tissue based only on the second local descriptor value.

Abstract: An exemplary contextual assistance system identifies, during a surgical procedure, an operational context of the surgical procedure while a particular object is present at a surgical site depicted by a first version of an image. Based on the identified operational context, the contextual assistance system augments a depiction of the particular object within a second version of the image that is presented to a user associated with the surgical procedure. Corresponding systems and methods are also disclosed.

Abstract: An exemplary system is configured to instruct a display device to render a virtual medical element representative of a physical medical element over a target region within an image of an internal space of a patient, the target region depicting an anatomical surface to be covered by the physical medical element; receive, while the virtual medical element is rendered over the target region, user input that sets at least one of a pose of the virtual medical element within the image or a size of the virtual medical element; and determine, based on the user input and on depth data representative of a depth map for the internal space, physical dimensions for the physical medical element.

Abstract: An illustrative image registration system identifies a subsurface structure at a surgical site based on subsurface imaging data from a subsurface image scan at the surgical site and uses the subsurface structure identified at the surgical site for a registration of endoscopic imaging data from an endoscopic imaging modality with additional imaging data from an additional imaging modality. The system provides a composite image of the surgical site, for display by a display device, based on the registration of the endoscopic imaging data from the endoscopic imaging modality with the additional imaging data from the additional imaging modality, wherein the composite image of the surgical site includes a first depiction of anatomy represented by the endoscopic imaging data integrated with a second depiction of anatomy represented by the additional imaging data. Corresponding systems and methods are also disclosed.