Efficient 3-D telestration for local robotic proctoring

摘要

An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points.

主权项

1. A method of three-dimensional telestration for a user, the method comprising:
identifying selected points of interest of a first image; displaying the first image on a user display with a first telestration mark at the selected points of interest; selectively matching the selected points of interest of the first image to points of a second image to determine matched points of interest of the second image by computing a plurality of image offsets wherein each of the plurality of image offsets is computed using a different image matching method than all others of the plurality of image offsets, and by using one of the computed plurality of image offsets which is selected according at least partially to one or more confidence scores of the plurality of image offsets; and displaying the second image on the user display with a second telestration mark at the matched points of interest such that the first telestration mark and the second telestration mark are presented to appear in three dimensions to the user.