1. A method for generating an optimal stereoscopic image, the method including an optimizing sequence comprising:
determining an original position of a point in a scene, the original position of the point having an original depth;
modifying the original position of the point in the scene to a new position, the new position having a new depth;
wherein the modifying the original position of the point in the scene to a new position comprises:
using a depth scaling function, Z\u2032(Z), wherein Z represents the original position of the point in the scene.
2. The method of claim 1, wherein the modifying the original position of the point in the scene to a new position further comprises:
moving the original position of the point in the scene along a line, the line defined by extending through the original position of the point in the scene and a midpoint between two capture camera positions.
3. The method of claim 2, wherein the two capture camera positions comprise capture camera positions in a computer generated imagery environment.
4. The method of claim 2, wherein the moving the original position of the point comprises moving the original position of the point toward the midpoint between the two capture camera positions.
5. The method of claim 2, wherein the optimizing sequence is repeated for every point in the scene.
6. The method of claim 1, wherein the optimizing sequence is repeated for every point in the scene.
7. The method of claim 1, wherein the scene is a computer generated imagery environment.
8. The method of claim 1, wherein the scene is real.
9. A method for generating an optimal stereoscopic image, the method comprising:
determining a preserved perspective of a scene comprising:
determining a first perceived depth and a first display height of a first object;
determining a second perceived depth and a second display height of a second object; and
setting a first ratio comprising the first perceived depth over the first display height directly proportional to a second ratio comprising the second perceived depth over the second display height; and
scaling the preserved perspective of the scene, comprising:
generating a new first perceived depth and a new first perceived height; and
generating a new second perceived depth and a new second perceived height;
wherein the new first perceived depth, new first perceived height, new second perceived depth, and new second perceived height are a fixed proportion of the first perceived depth, first perceived height, second perceived depth, and second perceived height.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A system for repairing a heart valve in a beating heart of a patient, comprising;
a port adapted to span a wall of the heart of the patient, the port having an opening extending therethrough and including a sealing portion including at least one seal configured to be positioned in the opening between an interior and an exterior of the heart;
an imaging catheter slidably insertable into the opening of the port, the imaging catheter having at least one lumen therethrough and including at least one imaging element;
a deployment catheter slidably insertable into the at least one lumen of the imaging catheter, the deployment catheter carrying a deployment mechanism and including at least one lumen therethrough, wherein a distal end of at least one of the imaging catheter and the deployment catheter forms a first portion of a jaw assembly for grasping target tissue for repair in the heart;
a repair cartridge slidably insertable into the lumen of the deployment catheter, the repair cartridge at least partially carrying a repair device adapted to repair the target tissue that is deployed onto the target tissue in conjunction with the deployment mechanism, the repair cartridge having a shaft with a tip at a distal end of the shaft, and wherein a proximally facing surface of the tip forms a second portion of the jaw assembly; and
an elongate removable locking mechanism selectively removable from contact with both the imaging catheter and the port and configured to engage the imaging catheter longitudinally along a length of an outer circumferential surface of the imaging catheter to prevent the imaging catheter from moving distally towards the target tissue relative to the port when the removable locking mechanism is engaged with the imaging catheter and a proximal force is applied to the imaging catheter for inserting the imaging catheter into the heart of the patient, the removable locking mechanism configured to move together with the imaging catheter when engaged with the imaging catheter;
wherein the imaging catheter is free to slide distally relative to the port to access the target tissue in the heart when the removable locking mechanism is not engaged with the imaging catheter to capture the target tissue with the jaw assembly;
wherein the at least one imaging element confirms proper capture of the target tissue with the jaw assembly; and
wherein the at least one seal substantially prevents blood from escaping the heart through the port while providing for selective insertion and removal of the imaging catheter, deployment catheter and repair cartridge through the port while the heart of the patient is beating.
2. The system of claim 1, further comprising a second repair cartridge at least partially carrying a second repair device, the second repair cartridge adapted to replace the repair cartridge in the system following deployment of the repair device.
3. The system of claim 2, further comprising a second deployment catheter, wherein the second repair cartridge is inserted into the second deployment catheter.
4. The system of claim 1, wherein the repair device is a suture.
5. The system of claim 4, further comprising a pledget to which the suture is attached following deployment of the suture, the pledget adapted to directly interface with the target tissue.
6. The system of claim 1, wherein the at least one imaging element comprises a plurality of fiber optics carried within at least one dedicated lumen in the imaging catheter.
7. The system of claim 1, wherein the removable locking mechanism engages an outer surface of the imaging catheter and prevents the imaging catheter from moving distally towards the target tissue by providing a physical barrier sandwiched between a proximal surface of the port and a distal surface of a portion of the imaging catheter that is raised relative to the outer surface of the imaging catheter with which the removable locking mechanism is engaged.
8. The system of claim 1, wherein the tip of the repair cartridge has a tapered distal end.
9. The system of claim 1, wherein the sealing portion of the port includes at least a first seal and a second seal, the first seal having an opening adapted to seal around an outer surface of the imaging catheter and the second seal having a plurality of slits that remain generally sealed when the imaging catheter is not inserted through the second seal.
10. The system of claim 1, wherein the port includes a stabilizing portion that is configured to engage with and seal with the heart wall and is configured to extend into the heart to provide access to the interior of the heart through the port.
11. A method of providing instruments and instructions for repairing a valve leaflet comprising:
providing the device of claim 1; and
providing instructions for operating the device of claim 1 to repair the valve leaflet.
12. A system for repairing a heart valve in a beating heart of a patient, comprising:
a port adapted to span a wall of the heart of the patient, the port having an opening extending therethrough configured to be positioned between an interior and an exterior of the heart;
a catheter slidably insertable into the opening of the port, the catheter including at least one imaging element and a deployment mechanism and having a distal end that forms a first portion of a jaw assembly adapted to grasp target tissue for repair in the heart;
a repair cartridge slidably insertable into the catheter, the repair cartridge at least partially carrying a repair device that is deployed into the target tissue in conjunction with the deployment mechanism and having a shaft with a tip at a distal end of the shaft that forms a second portion of the jaw assembly, wherein the imaging element confirms proper capture of the target tissue with the jaw assembly;
an elongate removable locking mechanism adapted to engage the catheter longitudinally along a length of an outer circumferential surface of the catheter to prevent the catheter from moving distally towards the target tissue relative to the port when the removable locking mechanism is engaged with the catheter and a proximal force is applied to the catheter for inserting the catheter into the heart of the patient, the removable locking mechanism configured to move together with the catheter when engaged with the catheter and the catheter being free to slide distally relative to the port to access the target tissue in the heart when the removable locking mechanism is not engaged with the catheter; and
a seal positioned within the opening of the port, the seal adapted to substantially prevent blood from escaping the heart through the port while providing for selective insertion and removal of the catheter and repair cartridge through the port while the heart of the patient is beating.
13. The system of claim 12, wherein the catheter comprises an imaging catheter carrying the imaging element and a separate deployment catheter carrying the deployment mechanism.
14. The system of claim 13, wherein the deployment catheter is slidably insertable into a lumen of the imaging catheter.
15. The system of claim 13, wherein the deployment catheter and imaging catheter are selectively insertable into a common lumen in the catheter.
16. The system of claim 12, further comprising a second repair cartridge at least partially carrying a second repair device, the second repair cartridge adapted to replace the repair cartridge in the system following deployment of the repair device.
17. The system of claim 1, wherein the repair device is a suture.
18. The system of claim 17, further comprising a pledget to which the suture is attached following deployment of the suture, the pledget adapted to directly interface with the target tissue.
19. The system of claim 12, wherein the removable locking mechanism engages an outer surface of the catheter and prevents the catheter from moving distally towards the target tissue by providing a physical barrier sandwiched between a proximal surface of the port and a distal surface of a portion of the catheter that is raised relative to the outer surface of the catheter with which the removable locking mechanism is engaged.
20. The system of claim 12, wherein the at least one seal includes at least a first seal and a second seal, the first seal having an opening adapted to seal around an outer surface of the catheter and the second seal having a plurality of slits that remain generally sealed when the catheter is not inserted through the second seal.
21. A method of providing instruments and instructions for repairing a valve leaflet, comprising:
providing the device of claim 12; and
providing instructions for operating the device of claim 19 to repair the valve leaflet.