Patent ID: 8810631

Claim:
A robotic surgical system comprising: an endoscope, held and positioned by the robotic surgical system, comprising: a stereoscopic optical channel configured to transport light from tissue; a capture unit coupled to the stereoscopic optical channel, wherein the capture unit captures from the light (1) a visible first image as one of a left image and a right image and captures from the light (2) a visible second image combined with a fluorescence second image as an other of the left image and the right image; an image processing system coupled to the capture unit to receive (1) the visible first image and (2) said visible second image combined with a fluorescence second image, wherein the image processing system generates at least one generated fluorescence image from the visible second image combined with the fluorescence second image, wherein the image processing system generates a generated visible second image from the visible second image combined with the fluorescence second image; wherein the image processing system further comprises: a first image warper configured to convert the visible first image into a warped visible second image; and a first image subtractor coupled to receive the warped visible second image and coupled to receive the visible second image combined with the fluorescence second image, wherein the image subtractor subtracts the warped visible second image from the visible second image combined with the fluorescence second image to generate a generated fluorescence second image, wherein the at least one generated fluorescence image comprises the generated fluorescence second image; and a stereoscopic display system coupled to the image processing system and to the capture unit, wherein the stereoscopic display system outputs a real-time stereoscopic image comprising in one eye a blend of the at least one generated fluorescence image and one of the visible first image and the generated visible second image, and in the other eye an other of the visible first image and the generated visible second image.