Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the object, tools and work site on a display. Tool information is provided by filtering a part of the real-time images for enhancement or degradation to indicate a state of a tool and displaying the filtered images on the display.
1. A system comprising:
a tool having a working end;
an image capturing device disposed to capture an image of a work site, the image of the work site including an image of an object and an image of the working end of the tool, the image of the object including an image of a first portion of the object and an image of a second portion of the object, the first portion of the object being adjacent to or near the tool, and the second portion of the object being the remainder of the object;
a display; and
a processor programmed to:
determine that the tool has been energized for cauterization; and
conditioned upon determining that the tool has been energized for cauterization:
filter the image of the first portion of the object to generate a filtered image and indicate in the filtered image that the tool is energized for cauterization by improving at least one of: contrast and brightness in the first portion, but not filter the image of the second portion of the object; and
cause the image of the work site, with the filtered first portion and the non-filtered second portion, to be displayed on the display.
2. The system of claim 1 , wherein the image capturing device comprises a stereo camera, wherein the display is a stereo viewer, and wherein the image of the work site is a three-dimensional image of the work site.
3. A method for providing tool information on a display, the method comprising:
an image capturing device capturing an image of a work site, the image of the work site including an image of an object and an image of the working end of the tool, the image of the object including an image of a first portion of the object and an image of a second portion of the object, the first portion of the object being adjacent to or near the tool, and the second portion of the object being the remainder of the object;
a processor determining whether or not the tool has been energized for cauterization; and
conditioned upon the processor determining that the tool has been energized for cauterization:
the processor filtering the image of the first portion of the object to generate a filtered image and indicate in the filtered image that the tool is energized for cauterization by improving at least one of: contrast and brightness in the first portion, but not filter the image of the second portion of the object; and
the processor causing the image of the work site, with the filtered first portion and the non-filtered second portion, to be displayed on a display.
4. The method of claim 3 , wherein the capturing of the image of the work site is performed using a stereo camera, wherein the display is a stereo viewer, and wherein the image of the work site is a three-dimensional image of the work site.
5. A system comprising:
a tool having a working end;
an image capturing device disposed to capture an image of a work site, the image of the work site including an image of an object and an image of the working end of the tool, the image of the object including an image of a first portion of the object and an image of a second portion of the object, the first portion of the object being adjacent to or near the tool, and the second portion of the object being the remainder of the object;
a display; and
a processor programmed to:
determine that the tool has been energized for cauterization; and
conditioned upon determining that the tool has been energized for cauterization:
filter the image of the second portion of the object to generate a filtered image and indicate in the filtered image that the tool is energized for cauterization by desaturation to remove color content in the second portion, but not filter the image of the first portion of the object; and
cause the image of the work site, with the filtered second portion and the non-filtered first portion, to be displayed on the display.
6. The system of claim 5 , wherein the image capturing device comprises a stereo camera, wherein the display is a stereo viewer, and wherein the image of the work site is a three-dimensional image of the work site.