Virtual shadows for enhanced depth perception

1. A method for augmenting an image of a surface of an object, the method comprising:

identifying, by a processor, the image of the surface of the object, the image of the surface of the object being an image of the surface of the object and at least a portion of a tool;

identifying, by the processor, a three-dimensional (3D) model of the surface of the object;

generating, by the processor, a first augmented 3D model, the generating of the first augmented 3D model comprising superimposing a representation of the tool on the identified 3D model of the surface of the object;

introducing, by the processor, a virtual light source into the generated first augmented 3D model;

generating, by the processor, a second augmented 3D model, the generating of the second augmented 3D model comprising generating a representation of a shadow on the surface of the object in the generated first augmented 3D model based on the virtual light source introduced into the generated first augmented 3D model; and

augmenting, by the processor, the identified image of the surface of the object, the augmenting of the identified image of the surface of the object comprising superimposing the generated representation of the shadow on the identified image of the surface of the object.

2. The method of claim 1 , wherein identifying the image of the surface of the object comprises:

generating, by a laparoscope, image data representing the surface of the object; and

generating, by the processor, the image of the surface of the object based on the generated image data.

3. The method of claim 1 , wherein identifying the 3D model of the surface of the object comprises:

generating, by an endoscope, data representing the surface of the object; and

generating, by the processor, the 3D model of the surface of the object based on the generated data.

4. The method of claim 3 , wherein the identified image of the surface of the object is from a viewpoint, and

wherein generating the 3D model of the surface of the object comprises generating the 3D model of the surface of the object based on the generated data from the viewpoint.

5. The method of claim 3 , wherein the endoscope is a structured light endoscope,

wherein generating the data representing the surface of the object comprises:

generating, with the structured light endoscope, a point cloud of the surface of the object; and

generating, with the processor, a mesh of the surface of the object based on the generated point cloud, and

wherein generating the 3D model of the surface of the object based on the generated data comprises generating the 3D model of the surface of the object based on the generated mesh of the surface of the object.

6. The method of claim 5 , further comprising identifying a position of the tool.

7. The method of claim 6 , wherein identifying the position of the tool comprises identifying, by an optical tracking system, a 3D position of the tool relative to the 3D model of the surface of the object.

8. The method of claim 7 , wherein the optical tracking system comprises:

one or more markers positioned on the tool;

one or more markers positioned on the structured light endoscope; and

one or more cameras positioned at a distance away from the object, the one or more cameras being configured to generate image data for the one or more markers of the tool and the one or more markers of the structured light endoscope,

wherein the method further comprises identifying, by the processor, a 3D model of the tool, and

wherein identifying the 3D position of the tool relative to the 3D model of the surface of the object comprises estimating the 3D position of the tool relative to the 3D model of the surface of the object based on the image data for the one or more markers of the tool and the one or more markers of the structured light endoscope, and the identified 3D model of the tool.

9. The method of claim 7 , wherein identifying the 3D model of the tool comprises:

identifying, by the processor, the 3D model of the tool from a plurality of predetermined models of tools stored in a memory based on the tool being used, the memory being in communication with the processor; or

determining, by the processor, a shape and a size of the tool based on the identified image of the surface of the object and at least the portion of the tool, and generating, by the processor, the 3D model of the tool based on the determined shape and the determined size of the tool.

10. The method of claim 1 , wherein introducing the virtual light source into the generated first augmented 3D model comprises introducing the virtual light source into the generated first augmented 3D model in an up vector from the identified image, or at a position upwards of gravity, as defined by an optical tracking system configured to identify a position of the tool.

11. The method of claim 1 , further comprising subtracting, by the processor, the generated first augmented 3D model from the generated second augmented 3D model, such that the representation of the shadow remains.

12. The method of claim 11 , wherein augmenting the identified image of the surface of the object comprises blending or fusing the representation of the shadow with the identified image of the surface of the object.

13. In a non-transitory computer-readable storage medium storing instructions executable by one or more processors to augment an image of a surface of an object, the instructions comprising:

identifying, by a processor, the image of the surface of the object, the image of the surface of the object being an image of the surface of the object and at least a portion of a tool;

identifying, by the processor, a three-dimensional (3D) model of the surface of the object;

superimposing, by the processor, a representation of the tool on the identified 3D model of the surface of the object;

introducing, by the processor, a virtual light source into the superimposed representation of the tool and identified 3D model of the surface of the object;

generating, by the processor, a representation of a shadow on the surface of the object within the superimposed representation of the tool and identified 3D model of the surface of the object based on the introduced light source; and

superimposing, by the processor, the generated representation of the shadow on the identified image of the surface of the object.

14. The non-transitory computer-readable storage medium of claim 13 , wherein the surface of the object is an internal surface of a body of a patient.

15. The non-transitory computer-readable storage medium of claim 13 , wherein the instructions further comprise identifying a position of the tool, the identifying of the position of the tool comprising identifying, by an optical tracking system, a 3D position of the tool relative to the 3D model of the surface of the object.

16. The non-transitory computer-readable storage medium of claim 15 , wherein the optical tracking system comprises:

one or more markers positioned on the tool;

one or more markers positioned on the structured light endoscope; and

one or more cameras positioned at a distance away from the object, the one or more cameras being configured to generate image data for the one or more markers of the tool and the one or more markers of the structured light endoscope,

wherein the instructions further comprise identifying, by the processor, a 3D model of the tool, and

wherein identifying the 3D position of the tool relative to the 3D model of the surface of the object comprises estimating the 3D position of the tool relative to the 3D model of the surface of the object based on the image data for the one or more markers of the tool and the one or more markers of the structured light endoscope, and the identified 3D model of the tool.

17. The non-transitory computer-readable storage medium of claim 15 , wherein identifying the 3D model of the tool comprises:

identifying, by the processor, the 3D model of the tool from a plurality of predetermined models of tools stored in a memory based on the tool being used, the memory being in communication with the processor; or

determining, by the processor, a shape and a size of the tool based on the identified image of the surface of the object and at least the portion of the tool, and generating, by the processor, the 3D model of the tool based on the determined shape and the determined size of the tool.

18. A system for generating an augmented image of a surface of an object and at least a portion of a tool, the system comprising:

a memory configured to store:

an image of the surface of the object and at least the portion of the tool; and

a three-dimensional (3D) model of the surface of the object; and

a processor in communication with the memory, the processor being configured to:

superimpose a representation of the tool on the identified 3D model of the surface of the object;

introduce a virtual light source into the superimposed representation of the tool and identified 3D model of the surface of the object;

generate a representation of a shadow on the surface of the object within the superimposed representation of the tool and identified 3D model of the surface of the object based on the introduced light source; and

superimpose the generated representation of the shadow on the stored image of the surface of the object and at least the portion of the tool.

19. The system of claim 18 , further comprising:

one or more endoscopes configured to:

generate first data representing the surface of the object; and

generate second data representing the surface of the object,

wherein the processor is further configured to:

generate the 3D model of the surface of the object based on the generated first data; and

generate the image of the surface of the object and at least the portion of the tool based on the generated second data.

20. The system of claim 19 , further comprising an optical tracking system configured to determine a 3D position of the tool relative to the 3D model of the surface of the object, the optical tracking system comprising:

one or more markers positioned on the tool;

one or more markers positioned on the endoscope; and

one or more cameras positioned at a distance away from the object, the one or more cameras being configured to generate image data for the one or more markers of the tool and the one or more markers of the endoscope,

wherein the processor is further configured to:

identify a 3D model of the tool, the identification of the 3D model of the tool comprising:

identification of the 3D model of the tool from a plurality of predetermined models of tools stored in the memory based on the tool being used; or

determination of a shape and a size of the tool based on the stored image of the surface of the object and at least the portion of the tool, and generation of the 3D model of the tool based on the determined shape and the determined size of the tool; and

identify the 3D position of the tool relative to the 3D model of the surface of the object, the identification of the 3D position of the tool relative to the 3D model of the surface of the object comprising estimation of the 3D position of the tool relative to the 3D model of the surface of the object based on the image data for the one or more markers of the tool and the one or more markers of the structured light endoscope, and the identified 3D model of the tool, and

wherein the processor is configured to superimpose the representation of the tool on the identified 3D model of the surface of the object based on the identified 3D position of the tool relative to the 3D model of the surface of the object.