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

Claim 20:
21. 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 two 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 each of the one or more weights has a value between a first value and a second value that is greater than the first value, wherein a sum of the one or more weight values assigned to the plurality of depth measurements sums to unity, and wherein the plurality of depth measurements are weighted based at least in part on a type of imaging modality used to obtain one or more images of the plurality of images.