Patent ID: 11937899
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A

Claim 6:
7. The imaging system of claim 5, wherein the processing unit is further configured to:
move an imaging unit of the imaging system from a first pose to a second pose, the move altering the first imaging geometry to a third imaging geometry and the second imaging geometry to a fourth imaging geometry;
receive a third image from the one or more first detectors, the third image including the detected reflections and being based on the third imaging geometry;
receive a fourth image from the one or more first detectors, the fourth image including the detected reflections and being based on the fourth imaging geometry;
determine a second region of high specular reflection in the third image and the fourth image;
estimate a second surface normal in the second region of high specular reflection based on differences between imaging geometries of the third image and the fourth image; and
select for use either the first and second images or the third and fourth images based on the first and second surface normals, the first and second regions of high specular reflection, and the first and second poses.