Pulsed hyperspectral, fluorescence, and laser mapping imaging in a light deficient environment is disclosed. A system includes an emitter for emitting pulses of electromagnetic radiation and an image sensor comprising a pixel array for sensing reflected electromagnetic radiation. The system includes a controller configured to synchronize timing of the emitter and the image sensor. The system is such that at least a portion of the pulses of electromagnetic radiation emitted by the emitter comprises one or more of a hyperspectral emission, a fluorescence emission, or a laser mapping pattern.

Systems and methods are generally described for an oral hygiene device. The oral hygiene device may include a handle portion and a head portion coupled to the handle portion and including a pick head interface. A pick head may be removably coupled to the pick head interface. The pick head may include a pointed pick member. An image capture device may be disposed in the head portion. The image capture device may be effective to capture image data representing images of an area proximal to a tip of the pointed pick member. A vibration element may be coupled to the pick head interface. The vibration element may be effective to vibrate the pick head.

A surgical robotic visualization system comprises a first robotic arm, a second robotic arm, a photoacoustic receiver coupled to the first robotic arm, an emitter assembly coupled to the second robotic arm, and a control circuit. The control circuit is configured to cause the emitter assembly to emit electromagnetic radiation toward an anatomical structure at a plurality of wavelengths capable of penetrating the anatomical structure and reaching an embedded structure located below a surface of the anatomical structure, receive an input of the photoacoustic receiver indicative of an acoustic response signal of the embedded structure, and detect the embedded structure based on the input from the photoacoustic receiver.

A surgery assisting device includes an arm, a control device, and an operating device. The arm holds an endoscope and adjusts a position of the endoscope. The control device generates a viewpoint image of a three-dimensional model of a subject from a viewpoint of the endoscope, and controls a display to display the viewpoint image and an endoscope image obtained by the endoscope. The operating device rotates the endoscope image and the viewpoint image in conjunction with the endoscope image without causing a positional displacement of the endoscope.

Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.

A system (11) includes a medical probe (36) for insertion into a cavity of an organ, which includes a position and direction sensor (60) and a camera (45), both operating in a sensor coordinate system (62). The system further includes a processor (44) configured to: receive, from an imaging system (21) operating in an image coordinate system (28), a three-dimensional image of the cavity including open space and tissue; receive, from the medical probe, signals indicating positions and respective directions of the medical probe inside the cavity; receive, from the camera, respective visualized locations inside the cavity; register the image coordinate system with the sensor coordinate system so as to identify one or more voxels in the image at the visualized locations, and when the identified voxels have density values in the received image that do not correspond to the open space, to update the density values of the identified voxels to correspond to the open space.

A surgical visualization system is disclosed. The surgical visualization system is configured to identify one or more structure(s) and/or determine one or more distances with respect to obscuring tissue and/or the identified structure(s). The surgical visualization system can facilitate avoidance of the identified structure(s) by a surgical device. The surgical visualization system can comprise a first emitter configured to emit a plurality of tissue-penetrating light waves and a second emitter configured to emit structured light onto the surface of tissue. The surgical visualization system can also include an image sensor configured to detect reflected visible light, tissue-penetrating light, and/or structured light. The surgical visualization system can convey information to one or more clinicians regarding the position of one or more hidden identified structures and/or provide one or more proximity indicators.

A surgical visualization system is disclosed. The surgical visualization system includes a control circuit communicatively coupled to a straight line laser source, a structured light emitter, and an image sensor; and a memory communicatively coupled to the control circuit. The memory stores instructions which, when executed, cause the control circuit to control the straight line laser source to project a straight laser line reference; control the structured light source to emit a structured light pattern onto a surface of an element of a surgical device; control the image sensor to detect the projected straight laser line and structured light reflected from the surface of the element of the surgical device; and determine a position of the element of the surgical device relative to the projected straight laser line reference.

A method for imaging involves scanning an anatomical object within a patient and capturing reflected IR light with a plurality of cameras that are separate from the scanner. The IR images captured by the IR cameras are associated together to create an integrated image based on parallax between the IR cameras and the scanner. The integrated image is associated with a separate or optical light image of the anatomical object to generate an intra-operative 3D image that can be created in real-time. Systems for effectuating such imaging may include multiple surgical instruments supporting various cameras positioned to capture different fields of view and to increase parallax.

A system for generating a 3D model of a surgical site includes a 3D endoscope and a computing device coupled to the 3D endoscope. The 3D endoscope includes a scanner for scanning a surface of a surgical site and a camera source for generating images of the surgical site. A 3D model of the surgical site, including objects therein, is generated using scan data and image data. The 3D model is updated by detecting a change in the surgical site, isolating a region of the surgical site where the change is detected, generating second scan data by scanning the surface of the isolated region, and updating the 3D model generated using the second scan data of the surface of the isolated region.