Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined. using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, of external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

Described are colonoscopy systems and methods of using such systems. The colonoscopy systems may include an optical scanning system having at least one illuminator configured to produce spatially patterned light and solid light in at least one frame to illuminate tissue within the colon, and at least one camera configured to capture the at least one image of the illuminated tissue within the colon. Additionally, the optical scanning system may include at least one control system configured to construct at least one three dimensional point cloud representations of the tissue within the colon and detect at least one feature of interest using the at least one three dimensional point cloud and a pre-trained artificial intelligence engine.

A stereoscopic-vision endoscope optical system includes a pair of objective optical systems, a pair of relay optical systems, and a pair of image forming optical systems. The image forming optical system includes a first lens unit, a first optical-path bending element, and a second optical-path bending element. The objective optical system and the relay optical system are disposed in a first optical path. A second optical path is formed between the first optical-path bending element and the second optical-path bending element. A third optical path is formed between the second optical-path bending element and a final image. The second optical path is positioned farther from the central axis, than the first optical path. The third optical path is positioned closer to the central axis, than the second optical path.

Apparatus (38) for the optical manipulation of a pair of landscape stereoscopic images (L, R), which apparatus (38) comprises: (i) a camera (36) which has its own focus lens (40); (ii) an enclosed housing (4), three ports (6, 8, 10) in the housing (4) with one port being a photographic interface port which forms a photographic interface (12) to the camera (36), and the other two ports being human interface ports which form a human interface (18), said three ports (6, 8, 10) allowing the light to pass from the human interface to the photographic interface (12) for camera recording, or from the photographic interface (12) to the human interface (18) for each eye of the human, in a direction parallel to that of light entering the other said interface without left-right image inversion between the photographic interface (12) and the human interface (18); and (iii) at least four reflective surfaces (20, 22, 24,26) which direct light along three mutually perpendicular axes, each of said surfaces having an edge lying on a flat plane (28), said plane (28) also including a division line (30) between adjacent landscape stereoscopic images presented at said photographic interface (12), whereby the apparatus (38) causes landscape stereoscopic images which are side by side with a left eye image left of a right eye image and with shortest dimensions adjacent and which are at the human interface (18) to become stacked one image above the other at the photographic interface (12), and wherein: (iv) the apparatus (38) causes the left and right eye images which are stacked one image above the other at the photographic interface (12) to emerge as parallel light towards the camera (36); and (v) the focus lens of the camera (36) is on an optical axis passing through the centre of the photographic interface port and is focussed for infinity distance to receive the parallel light conveying the two stereoscopic images.

The present disclosure provides a medical endoscope system, comprising: a sheath device having an end portion; and an optical sensing device disposed to extend within the sheath device and fixed to the end portion. The optical sensing device has a transmission portion and transmits an optical signal received by the optical sensing device through the transmission portion.

Methods and systems for displaying an overlay superimposed with an intraoperative image of surgical field in a medical ophthalmic procedure, such that the overlay appears at a desired depth within the image are provided. Methods and system for displaying an overlay superimposed with a stereoscopic intraoperative image pair of a surgical field in a medical ophthalmic procedure are provided.

An endoscope system includes an endoscope, at least one monitor, a first measuring instrument configured to measure a first direction, at least one second measuring instrument configured to measure a second direction, a reception circuit configured to receive the image from the endoscope, and a processor. The first direction corresponds to a horizontal component of an imaging direction of the endoscope. The second direction corresponds to a horizontal component of a reference direction. The reference direction is a direction in which the at least one monitor faces or is a direction toward or away from an image display surface of the at least one monitor. The processor is configured to calculate an angle between the first direction and the second direction, process the image based on the angle, and display the processed image on the at least one monitor. The processing includes a rotation processing or a horizontal flip processing.

A medical endoscope that has a reusable portion to which either of two different single-use portions can be snapped in by hand to thereby form two different assembled endoscopes. When one of the single-use portions is assembled with the reusable portion, a motor in the reusable portion robotically rotates a cannula about a proximal end of the single use portion. When the other single-use portion is assembled with the reusable portion, the motor robotically angulates the distal end of the cannula. Another medical endoscope is single-use in its entirety and has motor-driven angulation of the cannula's distal end. Another has manually controlled angulation.

A treatment device includes a shaft extending along a longitudinal axis and including a plurality of segments arranged along the longitudinal axis, a treatment portion at a distal-end side of the shaft, an operation portion at a proximal-end side of the shaft, and an imaging device. A first segment of the plurality of segments is at the distal-end side of a second segment of the plurality of segments and is rotatably attached to the second segment at a first pivot point. The imaging device is provided in the second segment. The first segment is rotatable about the first pivot point relative to the second segment such that a longitudinal axis of the first segment intersects a longitudinal axis of the second segment at a first angle and at least a part of the treatment portion enters a field of view of the imaging device.

Systems and methods for minimally invasive tele-surgery are described. For example, the disclosure describes methods for independently controlling motions of the robotic manipulator, cannula, and surgical instrument in various surgical contexts.