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1. (WO2019050886) SYSTEMS, METHODS, AND COMPUTER-READABLE MEDIA FOR PROVIDING STEREOSCOPIC VISUAL PERCEPTION NOTIFICATIONS AND/OR RECOMMENDATIONS DURING A ROBOTIC SURGICAL PROCEDURE
Note: Text based on automatic Optical Character Recognition processes. Please use the PDF version for legal matters

WHAT IS CLAIMED IS:

1. A method for providing stereoscopic visual perception notifications during a robotic surgical procedure, the method comprising:

receiving a right-eye view image captured by way of a right-eye lens of a patient image capture device disposed at a surgical site;

receiving a left-eye view image captured by way of a left-eye lens of the patient image capture device disposed at the surgical site;

analyzing the right-eye view and left-eye view images;

determining, based on a result of the analyzing, whether the right-eye view image or the left-eye view image includes a characteristic;

generating a stereoscopic visual perception notification, when it is determined that the right-eye view image or the left-eye view image includes the characteristic; and

displaying a stereoscopic image based on the right-eye view image and the left-eye view image, the stereoscopic image including the stereoscopic visual perception notification.

2. The method of claim 1, further comprising identifying a cause of the characteristic included in the right-eye view image or the left-eye view image.

3. The method of claim 2, wherein the identifying the cause of the characteristic included in the right-eye view image or the left-eye view image includes determining that the characteristic is associated with an image capture device factor.

4. The method of claim 2, wherein the identifying the cause of the characteristic included in the right-eye view image or the left-eye view image includes determining that the characteristic is associated with a system latency factor.

5. The method of claim 2, wherein the identifying the cause of the characteristic included in the right-eye view image or the left-eye view image includes determining that the characteristic is associated with a surgical site factor.

6. The method of claim 2, wherein the identifying the cause of the characteristic included in the right-eye view image or the left-eye view image includes detecting at least one of a binocular disparity, a color imbalance, a sharpness imbalance, a focus mismatch, a depth discontinuity, or a scale mismatch.

7. The method of claim 2, further comprising providing a recommendation of how to correct the characteristic included in the right-eye view image or the left-eye view image.

8. The method of claim 7, wherein the recommendation is based on the cause of the characteristic.

9. The method of claim 7, wherein at least one of the generating the stereoscopic visual perception notification or the providing the recommendation includes displaying a visual indication.

10. The method of claim 9, wherein the displaying the visual indication includes displaying a message indicating the cause of the characteristic.

11. The method of claim 7, wherein at least one of the generating the stereoscopic visual perception notification or the providing the recommendation includes providing an audible signal.

12. The method of claim 1, wherein the generating the stereoscopic visual perception notification includes generating a tactile vibration.

13. The method of claim 1, wherein the patient image capture device is a stereoscopic endoscope.

14. A system for providing stereoscopic visual perception notifications during a robotic surgical procedure, the system comprising:

a patient image capture device including a right-eye lens and a left-eye lens, the patient image capture device being disposed at a surgical site and configured to:

capture a right-eye view image of the surgical site by way of the right-eye lens; and capture a left-eye view image of the surgical site by way of the left-eye lens;

a display device;

at least one processor coupled to the patient image capture device; and

a memory coupled to the at least one processor, the memory including instructions which, when executed by the at least one processor, cause the at least one processor to:

receive the captured right-eye view image and the captured left-eye view image; analyze the right-eye view and left-eye view images;

determine, based on a result of the analyzing, whether the right-eye view image or the left-eye view image includes a characteristic;

generate a stereoscopic visual perception notification, when it is determined that the right-eye view image or the left-eye view image includes the characteristic; and

cause the display device to display a stereoscopic image based on the right-eye view image and the left-eye view image, the stereoscopic image including the stereoscopic visual perception notification.

15. The system of claim 14, wherein the instructions, when executed by the at least one processor, further cause the at least one processor to identify a cause of the characteristic included in the right-eye view image or the left-eye view image.

16. The system of claim 15, wherein the instructions, when executed by the at least one processor, further cause the at least one processor to determine that the characteristic is associated with an image capture device factor.

17. The system of claim 15, wherein the instructions, when executed by the at least one processor, further cause the at least one processor to determine that the characteristic is associated with a system latency factor.

18. The system of claim 15, wherein the instructions, when executed by the at least one processor, further cause the at least one processor to determine that the characteristic is associated with a surgical site factor.

19. The system of claim 15, wherein the instructions, when executed by the at least one processor, further cause the at least one processor to detect at least one of a binocular disparity, a color imbalance, a sharpness imbalance, a focus mismatch, a depth discontinuity, or a scale mismatch.

20. The system of claim 15, wherein the instructions, when executed by the at least one processor, further cause the at least one processor to provide a recommendation of how to correct the characteristic included in the right-eye view image or the left-eye view image.

21. The system of claim 20, wherein the recommendation is based on the cause of the characteristic.

22. The system of claim 20, wherein the instructions, when executed by the at least one processor, cause the display device to display a visual indication of at least one of the stereoscopic visual perception notification or the recommendation.

23. The system of claim 22, wherein the visual indication includes a message indicating the cause of the characteristic.

24. The system of claim 20, wherein at least one of the stereoscopic visual perception notification or the recommendation includes an audible signal.

25. The system of claim 14, wherein the stereoscopic visual perception notification includes a tactile vibration.

26. The system of claim 14, wherein the patient image capture device is a stereoscopic endoscope.

27. A non-transitory computer-readable storage medium storing instructions which, when executed by a processor, cause a computing device to:

receive a right-eye view image of a surgical site captured by way of a right-eye lens; receive a left-eye view image of the surgical site captured by way of a left-eye left;

analyze the right-eye view and left-eye view images;

determine, based on a result of the analyzing, whether the right-eye view image or the left-eye view image includes a characteristic;

generate a stereoscopic visual perception notification, when it is determined that the right-eye view image or the left-eye view image includes the characteristic; and

cause a display device to display a stereoscopic image based on the right-eye view image and the left-eye view image, the stereoscopic image including the stereoscopic visual perception notification.

28. The non-transitory computer-readable medium of claim 27, further storing instructions which, when executed by the processor, cause the processor to identify a cause of the characteristic included in the right-eye view image or the left-eye view image.

29. The non-transitory computer-readable medium of claim 28, further storing instructions which, when executed by the processor, cause the processor to determine that the characteristic is associated with an image capture device factor.

30. The non-transitory computer-readable medium of claim 28, further storing instructions which, when executed by the processor, cause the processor to determine that the characteristic is associated with a system latency factor.

31. The non-transitory computer-readable medium of claim 28, further storing instructions which, when executed by the processor, cause the processor to determine that the characteristic is associated with a surgical site factor.

32. The non-transitory computer-readable medium of claim 28, wherein the identifying the cause of the characteristic included in the right-eye view image or the left-eye view image includes detecting at least one of a binocular disparity, a color imbalance, a sharpness imbalance, a focus mismatch, a depth discontinuity, or a scale mismatch.

33. The non-transitory computer-readable medium of claim 28, further storing instructions which, when executed by the processor, cause the processor to provide a

recommendation of how to correct the characteristic included in the right-eye view image or the left-eye view image.

34. The non-transitory computer-readable medium of claim 33, wherein the recommendation is based on the cause of the characteristic.

35. The non-transitory computer-readable medium of claim 33, further storing instructions which, when executed by the processor, cause the display device to display a visual indication of at least one of the stereoscopic visual perception notification or the recommendation.

36. The non-transitory computer-readable medium of claim 35, wherein the visual indication includes a message indicating the cause of the characteristic.

37. The non-transitory computer-readable medium of claim 33, wherein at least one of the stereoscopic visual perception notification or the recommendation includes an audible signal.