US 11,944,395 B2
3D visualization enhancement for depth perception and collision avoidance
Yiming Xu, Sunnyvale, CA (US); and Berk Gonenc, San Jose, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Sep. 8, 2020, as Appl. No. 17/014,092.
Prior Publication US 2022/0071716 A1, Mar. 10, 2022
Int. Cl. A61B 34/10 (2016.01); A61B 1/00 (2006.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); G06N 20/00 (2019.01); A61B 34/30 (2016.01)
CPC A61B 34/25 (2016.02) [A61B 1/0005 (2013.01); A61B 1/00055 (2013.01); A61B 1/00193 (2013.01); A61B 34/35 (2016.02); G06N 20/00 (2019.01); A61B 2034/301 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A method, including:
obtaining a series of images of an internal anatomy obtained from an endoscope;
performing three-dimensional reconstruction on the series of images to reconstruct surface shapes of a portion of the internal anatomy shown in the series of images;
rendering a graphic, based on the three-dimensional reconstruction, that includes a pattern projected over the surface shapes of the portion of the internal anatomy shown in the series of images resulting in an enhanced endoscopic video feed; and
displaying the enhanced endoscopic video feed on a display.