Granted Patent B2

US 12,193,643 · App. 18/478,586 · Granted Jan 14, 2025

Inventors: Ian E. McDowall (San Francisco, CA); Arthur Louis Berman (San Jose, CA)

Assignee: INTUITIVE SURGICAL OPERATIONS, INC.

A61B1/00193A61B1/00009G02B23/2415G03B17/02G03B35/10G03B35/18G02B30/34H04N13/225

Abstract

Claims (26)

1. A stereoscopic endoscope comprising:

at least one image sensor for sensing a first image and a second image of a pair of stereo images, the first image being sensed based on light passing through a first aperture within the stereoscopic endoscope, and the second image being sensed based on light passing through a second aperture within the stereoscopic endoscope; and

a liquid crystal layer disposed between two layers of glass comprising a first arrangement of electrodes, such that each of the first aperture and the second aperture is created in the liquid crystal layer using a portion of the first arrangement of electrodes,

wherein a polarization state associated with each of the first and second apertures are controlled using corresponding control signals provided through the first arrangement of electrodes.

2. The stereoscopic endoscope of claim 1 , wherein the liquid crystal layer is configured to rotate the light passing through the liquid crystal layer such that the light passing through the first aperture is orthogonally polarized with respect to the light passing through the second aperture.

3. The stereoscopic endoscope of claim 1 , wherein the liquid crystal layer is a first liquid crystal layer and the stereoscopic endoscope further comprises a second liquid crystal layer that includes a third aperture and a fourth aperture using a portion of a second arrangement of electrodes.

4. The stereoscopic endoscope of claim 3 , wherein the first image is sensed based on light passing through the first aperture and the third aperture and the second image is sensed based on light passing through the second aperture and the fourth aperture.

5. The stereoscopic endoscope of claim 1 , wherein the polarization state of the first aperture and the second aperture are substantially the same.

6. The stereoscopic endoscope of claim 1 , wherein a size of the first aperture and a size of the second aperture are controllable using corresponding control signals provided through the first arrangement of electrodes.

7. The stereoscopic endoscope of claim 1 , wherein the liquid crystal layer is configured to polarize the light by rotating the light as it passes through the first aperture and the stereoscopic endoscope further comprises a second liquid crystal layer that is configured to further polarize the light from the first aperture.

8. The stereoscopic endoscope of claim 7 , wherein the second liquid crystal layer is configured to be controlled using corresponding control signals provided through a second arrangement of electrodes.

9. The stereoscopic endoscope of claim 1 , wherein the light passing through the first aperture is polarized differently as compared to the light passing through the second aperture.

10. The stereoscopic endoscope of claim 9 , comprising:

a first image sensor;

a second image sensor; and

an optical element that directs incident light to the first image sensor or the second image sensor based on polarization state of the incident light.

11. The stereoscopic endoscope of claim 1 , wherein locations of the first and second apertures are controllable in accordance with an orientation of the stereoscopic endoscope with respect to a reference orientation.

12. The stereoscopic endoscope of claim 1 , wherein a location of at least one of the first and second apertures is electronically adjusted using the first arrangement of electrodes to maintain an angle between (i) a line connecting the first and second apertures, and (ii) a reference orientation.

13. The stereoscopic endoscope of claim 12 , wherein the angle between (i) the line connecting the first and second apertures, and (ii) the reference orientation is maintained.

14. The stereoscopic endoscope of claim 12 , wherein the angle between (i) a line connecting the first and second apertures, and (ii) the reference orientation is maintained using one or more control signal calculated based on one or more previously captured images.

15. The stereoscopic endoscope of claim 1 , wherein the liquid crystal layer comprises a plurality of regions that are selectively switchable between a first transmissive mode, and a second relatively less transmissive mode, and wherein the first aperture and the second aperture are created by energizing portions of the plurality of regions using the portion of the first arrangement of electrodes.

16. The stereoscopic endoscope of claim 1 , wherein the liquid crystal layer comprises a plurality of liquid crystal segments.

17. The stereoscopic endoscope of claim 16 , wherein a size of each of the first aperture and the second aperture is defined as a subset of the plurality of liquid crystal segments.

18. The stereoscopic endoscope of claim 1 wherein a polarizer associated with the first aperture is substantially orthogonal with respect to the second aperture.

19. The stereoscopic endoscope of claim 1 , wherein the light passing through a first aperture is captured using a first image sensor, and the light passing through the second aperture is captured using a second image sensor, the first and second image sensors being disposed on two sides of a polarizing beam splitter.

20. The stereoscopic endoscope of claim 1 , wherein the first image and second image are sensed by a single sensor sequentially.

Assignments (1)

Continuity (5)

References Cited (54)