An endoscope for laparoscopic surgery, including a shaft with a central axis, a proximal end, a distal end and a first optical beam path with a prism at the distal end of the shaft and having light entrance and exit surfaces, a lens with an optical axis, the lens behind the prism considered from the distal end of the shaft, and beam deflecting optics behind the lens considered from the distal end of the shaft. The light entrance surface is oriented perpendicular to the central axis, and the light exit surface forms a first angle of inclination with a first spatial axis oriented orthogonal to the central axis. To increase the numerical aperture of the lens, the optical axis is arranged perpendicular to the light exit surface of the prism. As a result, the lens has a cross-sectional area that is larger than the light entrance surface of the prism.

An imaging unit includes: a first lens group configured to form a first optical image; a second lens group configured to form a second optical image; an objective lens group having a first region and a second region; a single image sensor configured to generate an image signal; a first holding frame having a first holding hole and a second holding hole; a second holding frame configured to hold the objective lens group; and a third holding frame configured to hold the image sensor. A depth of field of a first optical system formed of the objective lens group and the first lens group is set so as to entirely include a depth of field of a second optical system formed of the objective lens group and the second lens group and to be deeper than the depth of field of the second optical system.

Methods and apparatuses for generating and displaying a model of a subject's teeth. Described herein are intraoral scanning methods and apparatuses for generating a three-dimensional model of a subject's intraoral region (e.g., teeth). These methods and apparatuses may be used for identifying and evaluating lesions, caries and cracks in the teeth.

Systems and methods for multi-modal sensing of three-dimensional position information of the surface of an object are disclosed. In particular, multiple visualization modalities are each used to collect distinctive positional information of a surface of an object. Each of the computed positional information is combined using weighting factors to compute a final, weighted three-dimensional position. In various embodiments, a first depth may be recorded using fiducial markers, a second depth may be recorded using a structured light pattern, and a third depth may be recorded using a light-field camera. Weighting factors may be applied to each of the recorded depths and a final, weighted depth may be computed.

In one embodiment, a method for a stereo endoscope includes receiving electromagnetic radiation through an inner protective window; focusing the electromagnetic radiation with a left optical component toward a left pixel array of a stereo image sensor along an optical axis of the left optical component parallel with but offset from a center axis of the left pixel array; and focusing the electromagnetic radiation with a right optical component toward a right pixel array of the stereo image sensor along an optical axis of the right optical component parallel with but offset from a center axis of the right pixel array. The left pixel array and the right pixel array are offset from the center optical axis of the stereo endoscope to provide stereo image convergence.

A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.

An optical system for a stereo-video endoscope, the optical system including: first and second lens system channels having first and second optical elements on first and second optical axes, respectively, the first and second optical axes being parallel to each other; wherein the first and second optical elements are each arranged symmetrically relative to each other about a plane of symmetry between the first and second lens system channels and the first and second optical elements comprise first and second D-cut lenses, respectively, each of the first and second D-cut lenses having a boundary surface which is set back relative to the plane of symmetry; and the boundary surface of each of the first and second D-cut lenses are inclined with respect of the plane of symmetry.

An apparatus may configure an illuminator to illuminate a scene with non-white light and control a camera to capture, in a plurality of color channels of the camera, a frame of the scene illuminated with the non-white light. The apparatus may adjust a signal of a color channel of the camera in the frame of the scene based on the non-white light.

A medical imaging system, said system comprises a device configured to be inserted to a patient's body, comprising an elongated tube, comprising two or more cameras for capturing visual content in the vicinity of the device in different directions of view, a wireless module configured to transmit data captured by the two or more cameras to a remote devices, and a video receiving system configured to wirelessly receive and synchronize images captured by the two or more cameras, process the images into video and display the video on one or more display devices.

A surgical system for use in a surgical procedure is disclosed. The surgical system includes at least one imaging device and a control circuit configured to identify an anatomical organ targeted by the surgical procedure, generate a virtual three-dimensional (3D) construct of at least a portion of the anatomical organ based on visualization data from the at least one imaging device, identify anatomical structures relevant to the surgical procedure from the visualization data from the at least one imaging device, couple the anatomical structures to the virtual 3D construct, and overlay onto the virtual 3D construct a layout plan of the surgical procedure determined based on the anatomical structures.