Patent ID: 11857153
Assignee: ACTIV SURGICAL, INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC A  G  H | IPC A  G  H

Claim 19:
20. A system for depth sensing, the system comprising:
one or more imaging devices configured to obtain a plurality of images of an object in a surgical scene using a plurality of different imaging modalities, wherein the plurality of images comprises a plurality of markers on or near the object, and wherein the plurality of imaging modalities comprises at least of: RGB imaging, infrared imaging, depth imaging, fiducial marker imaging, structured light pattern imaging, or light field imaging; and
a processor configured to:
(a) compute a plurality of depth measurements for at least a portion of the object based on the plurality of images; and
(b) determine positional information for at least the portion of the object based on the plurality of depth measurements, wherein one or more weights are assigned to the plurality of depth measurements, wherein the one or more normalized weights have values between a predefined range, and wherein the plurality of depth measurements are weighted based on a type of imaging modality used to obtain one or more images of the plurality of images.