JPWO2020018931A5 - - Google Patents

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JPWO2020018931A5
JPWO2020018931A5 JP2021526407A JP2021526407A JPWO2020018931A5 JP WO2020018931 A5 JPWO2020018931 A5 JP WO2020018931A5 JP 2021526407 A JP2021526407 A JP 2021526407A JP 2021526407 A JP2021526407 A JP 2021526407A JP WO2020018931 A5 JPWO2020018931 A5 JP WO2020018931A5
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JP2021531482A (en
JP7297891B2 (en
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種々の実施形態では、近位端および遠位端を有する、内視鏡と、内視鏡の遠位端に光学的に結合される、結像デバイスと、それを用いて具現化されるプログラム命令を有する、コンピュータ可読記憶媒体を備える、コンピューティングノードとを含む、統合された外科手術デバイスが、提供される。プログラム命令は、コンピューティングノードのプロセッサによって、プロセッサに、画像が記録される、方法を実施させるように実行可能である。画像は、物体と、物体上に配置される、第１の複数のマーカと、物体上に配置される、第２の複数のマーカと、物体上に配置される、第３の複数のマーカとを含む。第１の深度は、画像および第１の複数のマーカを使用して算出される。第２の深度は、画像および第２の複数のマーカを使用して算出される。第３の深度は、画像および第３の複数のマーカを使用して算出される。第１の加重は、第１の深度に割り当てられ、第２の加重は、第２の深度に割り当てられ、第３の加重は、第３の深度に割り当てられる。加重平均深度は、第１の深度、第２の深度、第３の深度、第１の加重、第２の加重、および第３の加重に基づいて算出される。
本発明は、例えば、以下の項目を提供する。
（項目１）
方法であって、
画像を記録することであって、前記画像は、物体と、前記物体上に配置される第１の複数のマーカと、前記物体上に配置される第２の複数のマーカと、前記物体上に配置される第３の複数のマーカとを備える、ことと、
前記画像および前記第１の複数のマーカを使用して、第１の深度を算出することと、
前記画像および前記第２の複数のマーカを使用して、第２の深度を算出することと、
前記画像および前記第３の複数のマーカを使用して、第３の深度を算出することと、
第１の加重を前記第１の深度に割り当て、第２の加重を前記第２の深度に割り当て、第３の加重を前記第３の深度に割り当てることと、
前記第１の深度、第２の深度、第３の深度、第１の加重、第２の加重、および第３の加重に基づいて、加重平均深度を算出することと
を含む、方法。
（項目２）
前記画像を記録することは、１つ以上のデジタルカメラを用いて実施される、項目１に記載の方法。
（項目３）
前記１つ以上のデジタルカメラは、立体視カメラシステムを備える、項目２に記載の方法。
（項目４）
前記１つ以上のデジタルカメラは、プレノプティックカメラを備える、項目２または３に記載の方法。
（項目５）
前記第１の複数のマーカは、基点マーカを備える、前記項目のいずれかに記載の方法。
（項目６）
前記基点マーカは、液体インクを備える、項目５に記載の方法。
（項目７）
前記画像を記録することは、
構造化された光源から前記物体の表面上に構造化された光パターンをオーバーレイすることと、
前記構造化された光パターンを前記物体上に記録することと、
前記構造化された光パターンの幾何学的再構築を算出することと
を含む、前記項目のいずれかに記載の方法。
（項目８）
前記画像を記録することは、
光源から前記物体の表面上に光パターンをオーバーレイすることと、
前記光パターンの第１の画像を第１の場所における第１のカメラを用いて記録することと、
前記光パターンの第２の画像を前記第１の場所から所定の距離だけ離れた第２の場所における第２のカメラを用いて記録することと、
前記第１の画像と前記第２の画像との間の不均衡値を算出することと
を含む、前記項目のいずれかに記載の方法。
（項目９）
前記第３の複数のマーカは、前記物体の表面に適用される造影剤を備える、前記項目のいずれかに記載の方法。
（項目１０）
前記造影剤は、霧状液体染料である、項目９に記載の方法。
（項目１１）
前記第３の加重は、前記第１の加重および前記第２の加重を上回る、項目１－１０のいずれか１項に記載の方法。
（項目１２）
前記第２の加重は、前記第１の加重および前記第３の加重を上回る、項目１－１０のいずれか１項に記載の方法。
（項目１３）
前記第１の加重は、前記第２の加重および前記第３の加重を上回る、項目１－１０のいずれか１項に記載の方法。
（項目１４）
前記第１の加重は、前記第２の加重および前記第３の加重に等しい、項目１－１０のいずれか１項に記載の方法。
（項目１５）
システムであって、
結像デバイスと、
コンピュータ可読記憶媒体を備えるコンピューティングノードであって、前記コンピュータ可読記憶媒体は、それとともに具現化されるプログラム命令を有し、前記プログラム命令は、前記コンピューティングノードのプロセッサに、
画像を記録することであって、前記画像は、物体と、前記物体上に配置される第１の複数のマーカと、前記物体上に配置される第２の複数のマーカと、前記物体上に配置される第３の複数のマーカとを備える、ことと、
前記画像および前記第１の複数のマーカを使用して、第１の深度を算出することと、
前記画像および前記第２の複数のマーカを使用して、第２の深度を算出することと、
前記画像および前記第３の複数のマーカを使用して、第３の深度を算出することと、
第１の加重を前記第１の深度に割り当て、第２の加重を前記第２の深度に割り当て、第３の加重を前記第３の深度に割り当てることと、
前記第１の深度、第２の深度、第３の深度、第１の加重、第２の加重、および第３の加重に基づいて、加重平均深度を算出することと
を含む方法を実施させるように、前記プロセッサによって実行可能である、コンピューティングノードと
を備える、システム。
（項目１６）
前記結像デバイスは、１つ以上のデジタルカメラを備える、項目１５に記載のシステム。
（項目１７）
前記１つ以上のデジタルカメラは、立体視カメラシステムを備える、項目１６に記載のシステム。
（項目１８）
前記１つ以上のデジタルカメラは、プレノプティックカメラを備える、項目１６または１７に記載のシステム。
（項目１９）
前記第１の複数のマーカは、基点マーカを備える、項目１５－１８のいずれか１項に記載のシステム。
（項目２０）
前記基点マーカは、液体インクを備える、項目１９に記載のシステム。
（項目２１）
構造化された光パターンを前記物体の表面上に投影するように構成される構造化された光源をさらに備える、項目１５－２０のいずれか１項に記載のシステム。
（項目２２）
前記画像を記録することは、
前記構造化された光源から前記物体の表面上に前記構造化された光パターンをオーバーレイすることと、
前記構造化された光パターンを前記物体上に記録することと、
前記構造化された光パターンの幾何学的再構築を算出することと
を含む、項目２１に記載のシステム。
（項目２３）
前記画像を記録することは、
光源から前記物体の表面上に光パターンをオーバーレイすることと、
前記光パターンの第１の画像を第１の場所における第１のカメラを用いて記録することと、
前記光パターンの第２の画像を前記第１の場所から所定の距離だけ離れた第２の場所における第２のカメラを用いて記録することと、
前記第１の画像と前記第２の画像との間の不均衡値を算出することと
を含む、項目１５－２２のいずれか１項に記載のシステム。
（項目２４）
前記第３の複数のマーカは、前記物体の表面に適用される造影剤を備える、項目１５－２３のいずれか１項に記載のシステム。
（項目２５）
前記造影剤は、霧状液体染料である、項目２４に記載のシステム。
（項目２６）
前記第３の加重は、前記第１の加重および前記第２の加重を上回る、項目１５－２５のいずれか１項に記載のシステム。
（項目２７）
前記第２の加重は、前記第１の加重および前記第３の加重を上回る、項目１５－２５のいずれか１項に記載のシステム。
（項目２８）
前記第１の加重は、前記第２の加重および前記第３の加重を上回る、項目１５－２５のいずれか１項に記載のシステム。
（項目２９）
前記第１の加重は、前記第２の加重および前記第３の加重に等しい、項目１５－２５のいずれか１項に記載のシステム。
（項目３０）
近位および遠位端を有する内視鏡をさらに備え、前記結像デバイスは、前記近位端に配置される、項目１５－２９のいずれか１項に記載のシステム。
（項目３１）
コンピュータ可読記憶媒体を備えるコンピュータプログラム製品であって、前記コンピュータ可読記憶媒体は、それとともに具現化されるプログラム命令を有し、前記プログラム命令は、プロセッサに、
画像を記録することであって、前記画像は、物体と、前記物体上に配置される第１の複数のマーカと、前記物体上に配置される第２の複数のマーカと、前記物体上に配置される第３の複数のマーカとを備える、ことと、
前記画像および前記第１の複数のマーカを使用して、第１の深度を算出することと、
前記画像および前記第２の複数のマーカを使用して、第２の深度を算出することと、
前記画像および前記第３の複数のマーカを使用して、第３の深度を算出することと、
第１の加重を前記第１の深度に割り当て、第２の加重を前記第２の深度に割り当て、第３の加重を前記第３の深度に割り当てることと、
前記第１の深度、第２の深度、第３の深度、第１の加重、第２の加重、および第３の加重に基づいて、加重平均深度を算出することと
を含む方法を実施させるように、前記プロセッサによって実行可能である、コンピュータプログラム製品。
（項目３２）
前記画像を記録することは、１つ以上のデジタルカメラを用いて実施される、項目３１に記載のコンピュータプログラム製品。
（項目３３）
前記１つ以上のデジタルカメラは、立体視カメラシステムを備える、項目３２に記載のコンピュータプログラム製品。
（項目３４）
前記１つ以上のデジタルカメラは、プレノプティックカメラを備える、項目３２または３３に記載のコンピュータプログラム製品。
（項目３５）
前記第１の複数のマーカは、基点マーカを備える、項目３１－３４のいずれか１項に記載のコンピュータプログラム製品。
（項目３６）
前記基点マーカは、液体インクを備える、項目３５に記載のコンピュータプログラム製品。
（項目３７）
前記画像を記録することは、
構造化された光源から前記物体の表面上に構造化された光パターンをオーバーレイすることと、
前記構造化された光パターンを前記物体上に記録することと、
前記構造化された光パターンの幾何学的再構築を算出することと
を含む、項目３１－３６のいずれか１項に記載のコンピュータプログラム製品。
（項目３８）
前記画像を記録することは、
光源から前記物体の表面上に光パターンをオーバーレイすることと、
前記光パターンの第１の画像を第１の場所における第１のカメラを用いて記録することと、
前記光パターンの第２の画像を前記第１の場所から所定の距離だけ離れた第２の場所における第２のカメラを用いて記録することと、
前記第１の画像と前記第２の画像との間の不均衡値を算出することと
を含む、項目３１－３７のいずれか１項に記載のコンピュータプログラム製品。
（項目３９）
前記第３の複数のマーカは、前記物体の表面に適用される造影剤を備える、項目３１－３８のいずれか１項に記載のコンピュータプログラム製品。
（項目４０）
前記造影剤は、霧状液体染料である、項目３９に記載のコンピュータプログラム製品。
（項目４１）
前記第３の加重は、前記第１の加重および前記第２の加重を上回る、項目３１－４０のいずれか１項に記載のコンピュータプログラム製品。
（項目４２）
前記第２の加重は、前記第１の加重および前記第３の加重を上回る、項目３１－４０のいずれか１項に記載のコンピュータプログラム製品。
（項目４３）
前記第１の加重は、前記第２の加重および前記第３の加重を上回る、項目３１－４０のいずれか１項に記載のコンピュータプログラム製品。
（項目４４）
前記第１の加重は、前記第２の加重および前記第３の加重に等しい、項目３１－４０のいずれか１項に記載のコンピュータプログラム製品。
（項目４５）
方法であって、
画像を記録することであって、前記画像は、物体と、前記物体上に配置される第１の複数のマーカと、前記物体上に配置される第２の複数のマーカとを備える、ことと、
前記画像および前記第１の複数のマーカを使用して、第１の深度を算出することと、
前記画像および前記第２の複数のマーカを使用して、第２の深度を算出することと、
第１の加重を前記第１の深度に割り当て、第２の加重を前記第２の深度に割り当てることと、
前記第１の深度、第２の深度、第１の加重、および第２の加重に基づいて、加重平均深度を算出することと
を含む、方法。
（項目４６）
システムであって、
結像デバイスと、
コンピュータ可読記憶媒体を備えるコンピューティングノードであって、前記コンピュータ可読記憶媒体は、それとともに具現化されるプログラム命令を有し、前記プログラム命令は、前記コンピューティングノードのプロセッサに、
画像を記録することであって、前記画像は、物体と、前記物体上に配置される第１の複数のマーカと、前記物体上に配置される第２の複数のマーカとを備える、ことと、
前記画像および前記第１の複数のマーカを使用して、第１の深度を算出することと、
前記画像および前記第２の複数のマーカを使用して、第２の深度を算出することと、
第１の加重を前記第１の深度に割り当て、第２の加重を前記第２の深度に割り当てることと、
前記第１の深度、第２の深度、第１の加重、および第２の加重に基づいて、加重平均深度を算出することと
を含む方法を実施させるように、前記プロセッサによって実行可能である、コンピューティングノードと
を備える、システム。
（項目４７）
コンピュータ可読記憶媒体を備えるコンピュータプログラム製品であって、前記コンピュータ可読記憶媒体は、それとともに具現化されるプログラム命令を有し、前記プログラム命令は、プロセッサに、
画像を記録することであって、前記画像は、物体と、前記物体上に配置される第１の複数のマーカと、前記物体上に配置される第２の複数のマーカとを備える、ことと、
前記画像および前記第１の複数のマーカを使用して、第１の深度を算出することと、
前記画像および前記第２の複数のマーカを使用して、第２の深度を算出することと、
第１の加重を前記第１の深度に割り当て、第２の加重を前記第２の深度に割り当てることと、
前記第１の深度、第２の深度、第１の加重、および第２の加重に基づいて、加重平均深度を算出することと
を含む方法を実施させるように、前記プロセッサによって実行可能である、コンピュータプログラム製品。
（項目４８）
統合された外科手術デバイスであって、
近位端および遠位端を有する内視鏡と、
前記内視鏡の遠位端に光学的に結合される結像デバイスと、
コンピュータ可読記憶媒体を備えるコンピューティングノードであって、前記コンピュータ可読記憶媒体は、それとともに具現化されるプログラム命令を有し、前記プログラム命令は、前記コンピューティングノードのプロセッサに、
画像を記録することであって、前記画像は、物体と、前記物体上に配置される第１の複数のマーカと、前記物体上に配置される第２の複数のマーカと、前記物体上に配置される第３の複数のマーカとを備える、ことと、
前記画像および前記第１の複数のマーカを使用して、第１の深度を算出することと、
前記画像および前記第２の複数のマーカを使用して、第２の深度を算出することと、
前記画像および前記第３の複数のマーカを使用して、第３の深度を算出することと、
第１の加重を前記第１の深度に割り当て、第２の加重を前記第２の深度に割り当て、第３の加重を前記第３の深度に割り当てることと、
前記第１の深度、第２の深度、第３の深度、第１の加重、第２の加重、および第３の加重に基づいて、加重平均深度を算出することと
を含む方法を実施させるように、前記プロセッサによって実行可能である、コンピューティングノードと
を備える、統合された外科手術デバイス。
（項目４９）
統合された外科手術デバイスであって、
近位端および遠位端を有する内視鏡と、
前記内視鏡の遠位端に光学的に結合される結像デバイスと、
コンピュータ可読記憶媒体を備えるコンピューティングノードであって、前記コンピュータ可読記憶媒体は、それとともに具現化されるプログラム命令を有し、前記プログラム命令は、前記コンピューティングノードのプロセッサに、
画像を記録することであって、前記画像は、物体と、前記物体上に配置される第１の複数のマーカと、前記物体上に配置される第２の複数のマーカとを備える、ことと、
前記画像および前記第１の複数のマーカを使用して、第１の深度を算出することと、
前記画像および前記第２の複数のマーカを使用して、第２の深度を算出することと、
第１の加重を前記第１の深度に割り当て、第２の加重を前記第２の深度に割り当てることと、
前記第１の深度、第２の深度、第１の加重、および第２の加重に基づいて、加重平均深度を算出することと
を含む方法を実施させるように、前記プロセッサによって実行可能である、コンピューティングノードと
を備える、統合された外科手術デバイス。 In various embodiments, an endoscope having a proximal end and a distal end, an imaging device optically coupled to the distal end of the endoscope, and a program embodied therewith An integrated surgical device is provided that includes a computing node having a computer-readable storage medium having instructions. Program instructions are executable by a processor of a computing node to cause the processor to perform a method in which an image is recorded. The image includes an object, a first plurality of markers positioned on the object, a second plurality of markers positioned on the object, and a third plurality of markers positioned on the object. including. A first depth is calculated using the image and the first plurality of markers. A second depth is calculated using the image and a second plurality of markers. A third depth is calculated using the image and a third plurality of markers. A first weight is assigned to the first depth, a second weight is assigned to the second depth, and a third weight is assigned to the third depth. A weighted average depth is calculated based on the first depth, the second depth, the third depth, the first weight, the second weight, and the third weight.
The present invention provides, for example, the following items.
(Item 1)
a method,
recording an image, the image comprising an object, a first plurality of markers disposed on the object, a second plurality of markers disposed on the object, and a third plurality of markers positioned;
calculating a first depth using the image and the first plurality of markers;
calculating a second depth using the image and the second plurality of markers;
calculating a third depth using the image and the third plurality of markers;
assigning a first weight to the first depth, a second weight to the second depth, and a third weight to the third depth;
calculating a weighted average depth based on the first depth, the second depth, the third depth, the first weight, the second weight, and the third weight;
A method, including
(Item 2)
The method of item 1, wherein recording the images is performed using one or more digital cameras.
(Item 3)
3. The method of item 2, wherein the one or more digital cameras comprise a stereoscopic camera system.
(Item 4)
Method according to item 2 or 3, wherein the one or more digital cameras comprise plenoptic cameras.
(Item 5)
The method of any of the preceding items, wherein the first plurality of markers comprises a fiducial marker.
(Item 6)
6. The method of item 5, wherein the fiducial marker comprises liquid ink.
(Item 7)
Recording the image includes:
overlaying a structured light pattern from a structured light source onto the surface of the object;
recording the structured light pattern on the object;
calculating a geometric reconstruction of the structured light pattern;
The method of any of the preceding items, comprising
(Item 8)
Recording the image includes:
overlaying a light pattern from a light source onto the surface of the object;
recording a first image of the light pattern with a first camera at a first location;
recording a second image of the light pattern with a second camera at a second location a predetermined distance from the first location;
calculating an imbalance value between the first image and the second image;
The method of any of the preceding items, comprising
(Item 9)
The method of any of the preceding items, wherein the third plurality of markers comprises a contrast agent applied to the surface of the object.
(Item 10)
10. The method of item 9, wherein the contrast agent is a nebulized liquid dye.
(Item 11)
11. The method of any one of items 1-10, wherein the third weighting exceeds the first weighting and the second weighting.
(Item 12)
11. The method of any one of items 1-10, wherein the second weighting exceeds the first weighting and the third weighting.
(Item 13)
11. The method of any one of items 1-10, wherein the first weighting exceeds the second weighting and the third weighting.
(Item 14)
11. The method of any one of items 1-10, wherein the first weight is equal to the second weight and the third weight.
(Item 15)
a system,
an imaging device;
A computing node comprising a computer-readable storage medium having program instructions embodied therewith, said program instructions causing a processor of said computing node to:
recording an image, the image comprising an object, a first plurality of markers disposed on the object, a second plurality of markers disposed on the object, and a third plurality of markers positioned;
calculating a first depth using the image and the first plurality of markers;
calculating a second depth using the image and the second plurality of markers;
calculating a third depth using the image and the third plurality of markers;
assigning a first weight to the first depth, a second weight to the second depth, and a third weight to the third depth;
calculating a weighted average depth based on the first depth, the second depth, the third depth, the first weight, the second weight, and the third weight;
a computing node executable by said processor to cause it to perform a method comprising
A system comprising:
(Item 16)
16. The system of item 15, wherein the imaging device comprises one or more digital cameras.
(Item 17)
17. The system of item 16, wherein the one or more digital cameras comprise a stereoscopic camera system.
(Item 18)
18. System according to item 16 or 17, wherein the one or more digital cameras comprise plenoptic cameras.
(Item 19)
19. The system of any one of items 15-18, wherein the first plurality of markers comprises fiducial markers.
(Item 20)
20. The system of item 19, wherein the fiducial marker comprises liquid ink.
(Item 21)
21. The system of any one of items 15-20, further comprising a structured light source configured to project a structured light pattern onto the surface of the object.
(Item 22)
Recording the image includes:
overlaying the structured light pattern from the structured light source onto the surface of the object;
recording the structured light pattern on the object;
calculating a geometric reconstruction of the structured light pattern;
22. The system of item 21, comprising:
(Item 23)
Recording the image includes:
overlaying a light pattern from a light source onto the surface of the object;
recording a first image of the light pattern with a first camera at a first location;
recording a second image of the light pattern with a second camera at a second location a predetermined distance from the first location;
calculating an imbalance value between the first image and the second image;
23. The system of any one of items 15-22, comprising:
(Item 24)
24. The system of any one of items 15-23, wherein the third plurality of markers comprises a contrast agent applied to the surface of the object.
(Item 25)
25. The system of item 24, wherein the contrast agent is a nebulized liquid dye.
(Item 26)
26. The system of any one of items 15-25, wherein said third weighting exceeds said first weighting and said second weighting.
(Item 27)
26. The system of any one of items 15-25, wherein said second weighting exceeds said first weighting and said third weighting.
(Item 28)
26. The system of any one of items 15-25, wherein the first weighting exceeds the second weighting and the third weighting.
(Item 29)
26. The system of any one of items 15-25, wherein the first weight is equal to the second weight and the third weight.
(Item 30)
30. The system of any one of items 15-29, further comprising an endoscope having proximal and distal ends, wherein the imaging device is located at the proximal end.
(Item 31)
A computer program product comprising a computer-readable storage medium having program instructions embodied therewith, the program instructions causing a processor to:
recording an image, the image comprising an object, a first plurality of markers disposed on the object, a second plurality of markers disposed on the object, and a third plurality of markers positioned;
calculating a first depth using the image and the first plurality of markers;
calculating a second depth using the image and the second plurality of markers;
calculating a third depth using the image and the third plurality of markers;
assigning a first weight to the first depth, a second weight to the second depth, and a third weight to the third depth;
calculating a weighted average depth based on the first depth, the second depth, the third depth, the first weight, the second weight, and the third weight;
A computer program product executable by said processor to cause it to perform a method comprising:
(Item 32)
32. The computer program product of item 31, wherein recording the images is performed using one or more digital cameras.
(Item 33)
33. The computer program product of item 32, wherein the one or more digital cameras comprise a stereoscopic camera system.
(Item 34)
34. Computer program product according to item 32 or 33, wherein the one or more digital cameras comprise plenoptic cameras.
(Item 35)
35. The computer program product of any one of items 31-34, wherein the first plurality of markers comprises fiducial markers.
(Item 36)
36. The computer program product of item 35, wherein the fiducial marker comprises liquid ink.
(Item 37)
Recording the image includes:
overlaying a structured light pattern from a structured light source onto the surface of the object;
recording the structured light pattern on the object;
calculating a geometric reconstruction of the structured light pattern;
37. The computer program product of any one of items 31-36, comprising:
(Item 38)
Recording the image includes:
overlaying a light pattern from a light source onto the surface of the object;
recording a first image of the light pattern with a first camera at a first location;
recording a second image of the light pattern with a second camera at a second location a predetermined distance from the first location;
calculating an imbalance value between the first image and the second image;
38. The computer program product of any one of items 31-37, comprising:
(Item 39)
39. The computer program product of any one of items 31-38, wherein the third plurality of markers comprises a contrast agent applied to the surface of the object.
(Item 40)
40. The computer program product of item 39, wherein the contrast agent is a liquid nebulized dye.
(Item 41)
41. The computer program product of any one of items 31-40, wherein said third weighting exceeds said first weighting and said second weighting.
(Item 42)
41. The computer program product of any one of items 31-40, wherein said second weighting exceeds said first weighting and said third weighting.
(Item 43)
41. The computer program product of any one of items 31-40, wherein the first weighting exceeds the second weighting and the third weighting.
(Item 44)
41. The computer program product of any one of items 31-40, wherein the first weight is equal to the second weight and the third weight.
(Item 45)
a method,
recording an image, the image comprising an object, a first plurality of markers positioned on the object, and a second plurality of markers positioned on the object; ,
calculating a first depth using the image and the first plurality of markers;
calculating a second depth using the image and the second plurality of markers;
assigning a first weight to the first depth and a second weight to the second depth;
calculating a weighted average depth based on the first depth, the second depth, the first weight, and the second weight;
A method, including
(Item 46)
a system,
an imaging device;
A computing node comprising a computer-readable storage medium having program instructions embodied therewith, said program instructions causing a processor of said computing node to:
recording an image, the image comprising an object, a first plurality of markers positioned on the object, and a second plurality of markers positioned on the object; ,
calculating a first depth using the image and the first plurality of markers;
calculating a second depth using the image and the second plurality of markers;
assigning a first weight to the first depth and a second weight to the second depth;
calculating a weighted average depth based on the first depth, the second depth, the first weight, and the second weight;
a computing node executable by said processor to cause it to perform a method comprising
A system comprising:
(Item 47)
A computer program product comprising a computer-readable storage medium having program instructions embodied therewith, the program instructions causing a processor to:
recording an image, the image comprising an object, a first plurality of markers positioned on the object, and a second plurality of markers positioned on the object; ,
calculating a first depth using the image and the first plurality of markers;
calculating a second depth using the image and the second plurality of markers;
assigning a first weight to the first depth and a second weight to the second depth;
calculating a weighted average depth based on the first depth, the second depth, the first weight, and the second weight;
A computer program product executable by said processor to cause it to perform a method comprising:
(Item 48)
An integrated surgical device comprising:
an endoscope having a proximal end and a distal end;
an imaging device optically coupled to the distal end of the endoscope;
A computing node comprising a computer-readable storage medium having program instructions embodied therewith, said program instructions causing a processor of said computing node to:
recording an image, the image comprising an object, a first plurality of markers disposed on the object, a second plurality of markers disposed on the object, and a third plurality of markers positioned;
calculating a first depth using the image and the first plurality of markers;
calculating a second depth using the image and the second plurality of markers;
calculating a third depth using the image and the third plurality of markers;
assigning a first weight to the first depth, a second weight to the second depth, and a third weight to the third depth;
calculating a weighted average depth based on the first depth, the second depth, the third depth, the first weight, the second weight, and the third weight;
a computing node executable by said processor to cause it to perform a method comprising
An integrated surgical device comprising:
(Item 49)
An integrated surgical device comprising:
an endoscope having a proximal end and a distal end;
an imaging device optically coupled to the distal end of the endoscope;
A computing node comprising a computer-readable storage medium having program instructions embodied therewith, said program instructions causing a processor of said computing node to:
recording an image, the image comprising an object, a first plurality of markers positioned on the object, and a second plurality of markers positioned on the object; ,
calculating a first depth using the image and the first plurality of markers;
calculating a second depth using the image and the second plurality of markers;
assigning a first weight to the first depth and a second weight to the second depth;
calculating a weighted average depth based on the first depth, the second depth, the first weight, and the second weight;
a computing node executable by said processor to cause it to perform a method comprising
An integrated surgical device comprising:

Claims (20)

深度感知の方法であって、A method of depth sensing comprising:
（ａ）外科手術場面内の物体の１つ以上の画像を記録することであって、前記１つ以上の画像は、前記物体上の複数のマーカを備える、ことと、(a) recording one or more images of an object within a surgical scene, the one or more images comprising a plurality of markers on the object;
（ｂ）（ｉ）前記１つ以上の画像および前記複数のマーカのうちの第１の組のマーカを使用して、第１の深度を算出し、（ｉｉ）前記１つ以上の画像および前記複数のマーカのうちの第２の組のマーカを使用して、第２の深度を算出し、（ｉｉｉ）前記複数のマーカのうちの第３の組のマーカを使用して、第３の深度を算出することと、(b) (i) using the one or more images and a first set of markers of the plurality of markers to calculate a first depth; (ii) the one or more images and the using a second set of markers of the plurality of markers to calculate a second depth; (iii) using a third set of markers of the plurality of markers to calculate a third depth; and calculating
（ｃ）（ｉ）第１の加重を前記第１の深度に割り当て、（ｉｉ）第２の加重を前記第２の深度に割り当て、（ｉｉｉ）第３の加重を前記第３の深度に割り当てることと、(c) (i) assigning a first weight to said first depth; (ii) assigning a second weight to said second depth; (iii) assigning a third weight to said third depth; and
（ｄ）前記第１の深度、前記第１の加重、前記第２の深度、前記第２の加重、前記第３の深度、および前記第３の加重に少なくとも部分的に基づいて、前記物体の１つ以上の部分の加重平均深度を算出することと(d) based at least in part on the first depth, the first weighting, the second depth, the second weighting, the third depth, and the third weighting of the object; calculating a weighted average depth of one or more portions;
を含む方法。method including. （ａ）は、前記１つ以上の画像を記録するために１つ以上の結像デバイスを使用することを含む、請求項１に記載の方法。2. The method of claim 1, wherein (a) comprises using one or more imaging devices to record the one or more images. 前記１つ以上の結像デバイスは、立体視カメラ、赤外線カメラ、明視野カメラ、プレノプティックカメラ、または構造化光検出ユニットを備える、請求項２に記載の方法。3. The method of claim 2, wherein the one or more imaging devices comprise a stereoscopic camera, an infrared camera, a brightfield camera, a plenoptic camera, or a structured light detection unit. 前記１つ以上の結像デバイスは、異なるタイプの結像デバイスを備える、請求項２に記載の方法。3. The method of claim 2, wherein the one or more imaging devices comprise different types of imaging devices. 前記第１の加重および前記第２の加重のうちの少なくとも一方は、前記１つ以上の結像デバイスの正確度または精度に対応する、請求項２に記載の方法。3. The method of claim 2, wherein at least one of the first weighting and the second weighting corresponds to accuracy or precision of the one or more imaging devices. 前記第１の組のマーカは、１つ以上の基点マーカを備える、請求項１に記載の方法。2. The method of claim 1, wherein the first set of markers comprises one or more fiducial markers. 前記１つ以上の基点マーカは、前記物体に適用された液体インクを備える、請求項６に記載の方法。7. The method of Claim 6, wherein the one or more fiducial markers comprise liquid ink applied to the object. 前記第２の組のマーカは、１つ以上の光学マーカを備える、請求項１に記載の方法。2. The method of claim 1, wherein the second set of markers comprises one or more optical markers. （ａ）は、（ｉ）前記１つ以上の光学マーカを備える構造化された光パターンを前記物体の表面上に投影することと、（ｉｉ）前記物体の前記表面上に投影された前記構造化された光パターンを記録することとをさらに含む、請求項８に記載の方法。(a) (i) projecting a structured light pattern comprising said one or more optical markers onto a surface of said object; and (ii) said structure projected onto said surface of said object; 9. The method of claim 8, further comprising recording the transformed light pattern. 前記投影された構造化された光パターンの少なくとも一部を使用することにより、前記物体の前記表面の幾何学的再構築を算出することをさらに含む、請求項９に記載の方法。10. The method of claim 9, further comprising computing a geometric reconstruction of the surface of the object by using at least part of the projected structured light pattern. （ｉ）第１のカメラを使用して前記物体の第１の画像を記録し、前記第１のカメラから離間されている第２のカメラを使用して前記物体の第２の画像を記録することと、(i) recording a first image of said object using a first camera and recording a second image of said object using a second camera spaced from said first camera; and
（ｉｉ）前記第１の画像と前記第２の画像との間の不均衡値を算出することと、(ii) calculating an imbalance value between the first image and the second image;
（ｉｉｉ）前記不均衡値を使用することにより、前記物体の前記１つ以上の部分の深度を算出または更新することと(iii) calculating or updating the depth of the one or more portions of the object using the imbalance value;
をさらに含む、請求項１に記載の方法。2. The method of claim 1, further comprising: 前記第１の加重および前記第２の加重のうちの少なくとも一方は、前記１つ以上の画像のピクセルレベルでパラメータ化されている、請求項１に記載の方法。2. The method of claim 1, wherein at least one of the first weights and the second weights are parameterized at the pixel level of the one or more images. 前記第１の加重および前記第２の加重のうちの少なくとも一方は、パラメータ関数を使用してパラメータ化され、前記パラメータ関数は、連続関数、不連続関数、区分関数、線形関数、または指数関数的関数を含む、請求項１２に記載の方法。At least one of the first weight and the second weight is parameterized using a parametric function, the parametric function being a continuous function, a discrete function, a piecewise function, a linear function, or an exponential function. 13. The method of claim 12, comprising a function. 前記第３の加重は、前記第１の加重または前記第２の加重よりも大きいか、前記第１の加重または前記第２の加重に等しい、請求項１に記載の方法。2. The method of claim 1, wherein the third weight is greater than or equal to the first weight or the second weight. 前記第２の加重は、前記第１の加重または前記第３の加重よりも大きいか、前記第１の加重または前記第３の加重に等しい、請求項１に記載の方法。2. The method of claim 1, wherein the second weight is greater than or equal to the first weight or the third weight. 前記第１の加重は、前記第２の加重または前記第３の加重よりも大きいか、前記第２の加重または前記第３の加重に等しい、請求項１に記載の方法。2. The method of claim 1, wherein the first weight is greater than or equal to the second weight or the third weight. 前記複数のマーカは、前記物体の表面に適用される造影剤を備える、請求項１に記載の方法。2. The method of Claim 1, wherein the plurality of markers comprises a contrast agent applied to the surface of the object. 前記造影剤は、霧状染料を含む、請求項１７に記載の方法。18. The method of claim 17, wherein the contrast agent comprises a nebulized dye. 前記物体は、生体材料、組織、器官、内部身体構造、または外部身体構造を含む、請求項１に記載の方法。2. The method of claim 1, wherein the object comprises biomaterial, tissue, organ, internal body structure, or external body structure. 前記第１の深度、前記第２の深度、または前記第３の深度は、前記第１、第２、および第３の組のマーカの各々について１つ以上の検出された位置を既知の基準に対して相互参照することによって算出され、前記既知の基準は、既知のサイズまたは既知の形状を備える、請求項１に記載の方法。The first depth, the second depth, or the third depth are defined relative to a known reference to one or more detected positions for each of the first, second, and third sets of markers. 2. The method of claim 1, wherein the known fiducials comprise known sizes or known shapes.

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