US 12,106,502 B2
System and method for determining depth perception in vivo in a surgical robotic system
Fabrizio Santini, Arlington, MA (US); and Sammy Khalifa, Medford, MA (US)
Assigned to Vicarious Surgical Inc., Waltham, MA (US)
Filed by Vicarious Surgical Inc., Waltham, MA (US)
Filed on Aug. 5, 2022, as Appl. No. 17/882,226.
Application 17/882,226 is a continuation of application No. PCT/US2021/016999, filed on Feb. 8, 2021.
Claims priority of provisional application 62/971,097, filed on Feb. 6, 2020.
Prior Publication US 2022/0383531 A1, Dec. 1, 2022
Int. Cl. A61B 34/30 (2016.01); G06T 7/593 (2017.01); H04N 13/239 (2018.01); H04N 23/67 (2023.01)
CPC G06T 7/593 (2017.01) [A61B 34/30 (2016.02); H04N 13/239 (2018.05); H04N 23/67 (2023.01); G06T 2207/10028 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30004 (2013.01)] 28 Claims
OG exemplary drawing
 
1. A surgical robotic system, comprising:
a robotic subsystem including a camera assembly comprising a first camera and a second camera for generating image data; and
a computing unit including:
a processor for processing the image data;
a control unit for controlling the robotic subsystem; and
a depth perception subsystem for:
receiving the image data generated by the first and second cameras and for generating, based on the image data, a plurality of depth maps, and converting the plurality of depth maps into a single combined depth map having distance data associated therewith.