Stereo imaging system and method for use in telerobotic systems

Abstract

This invention relates to a stereo imaging system for use in telerobotic systems. A method of imaging a target site in a stereo imaging system is provided. The method typically includes capturing a right and a left optical image of the target site and transforming the right and the left optical images preferably into digital information. The method further includes converting the digital information into opposed images of the target site displayed on a stereo display of the stereo imaging system, one of the opposed images being associated with the right optical image and the other of the opposed images being associated with the left optical image. The method further includes regulating the digital information to cause the positions of the target site displayed on the opposed images to change relative to each other. The invention further provides for a method of aligning the opposed images, to a method of adjusting the stereo working distance of an image capture device, such as an endoscope and to a stereo imaging system.

1 - 62 . (canceled)  
     
     
         63 . A method for virtually varying a working distance of a stereoscopic imaging device for displaying portions of captured left and right images on a three-dimensional viewer, comprising: 
 receiving information of captured right and left images from the stereoscopic imaging device;    receiving a command to vary a working distance associated with the stereoscopic imaging device;    processing the information of the captured right and left images by cropping each of the left and right images so as to virtually vary the working distance according to the command; and    providing the cropped right and left images to the three-dimensional viewer for display on the three-dimensional viewer.    
     
     
         64 . The method of  claim 63 , wherein the processing of the information of the captured right and left images comprises: 
 determining whether the command to vary the working distance indicates that the working distance is to be increased or decreased;    if the working distance is to be increased, then cropping the left and right images so that left image reference points in the uncropped left image appear left of center in the cropped left image and right image reference points in the uncropped right image appear right of center in the cropped right image; and    if the working distance is to be decreased, then cropping the left and right images so that left image reference points in the uncropped left image appear right of center in the cropped left image and right image reference points in the uncropped right image appear left of center in the cropped right image.    
     
     
         65 . The method of  claim 63 , wherein the command to vary the working distance is received from a user operable switch.  
     
     
         66 . The method of  claim 63 , wherein the command to vary the working distance is received from a user depressible foot pedal.  
     
     
         67 . The method of  claim 63 , wherein the command to vary the working distance indicates a stepwise adjustment of present working distances.  
     
     
         68 . The method of  claim 63 , wherein the stereoscopic imaging device is a stereoscopic endoscope.  
     
     
         69 . A stereoscopic imaging system comprising: 
 a stereoscopic imaging device capturing left and right images of a scene;    a user operable input device;    a three-dimensional viewer; and    a processor configured to generate cropped left and right images by cropping the captured left and right images so as to virtually change a working distance associated with the stereoscopic imaging device according to a command received from the input device, and provide the cropped left and right images to the three-dimensional viewer for displaying the scene relative to the virtually changed working distance.    
     
     
         70 . The stereoscopic imaging system of  claim 69 , wherein the user operable input device is a hand operable switch.  
     
     
         71 . The stereoscopic imaging system of  claim 69 , wherein the user operable input device is a depressible foot pedal.  
     
     
         72 . The stereoscopic imaging system of  claim 69 , wherein the user operable input device is configured to provide commands indicative of stepwise adjustment of preset working distances.  
     
     
         73 . The stereoscopic imaging system of  claim 69 , wherein the processor is configured to: 
 determine whether the command received from the input device indicates that the working distance is to be increased or decreased;    if the working distance is to be increased, then crop the left and right images so that left image reference points in the uncropped left image appear left of center in the cropped left image and right image reference points in the uncropped right image appear right of center in the cropped right image; and    if the working distance is to be decreased, then crop the left and right images so that left image reference points in the uncropped left image appear right of center in the cropped left image and right image reference points in the uncropped right image appear left of center in the cropped right image.    
     
     
         74 . The stereoscopic imaging system of  claim 69 , wherein the stereoscopic imaging device is a stereoscopic endoscope.