Medical imaging camera head devices and methods are provided using light captured by an endoscope system or other medical scope or borescope. Afocal light from the scope is manipulated and split. The resulting first and second beams are passed through focusing optics to a single sensor. To take better advantage of the available number image sensor pixels, the beam may pass through lens elements (or prisms) to generate an anamorphic aspect ratio prior to being split, increasing the resolution of the image in one dimension. The afocal anamorphic beam is then split, and both images are focused on the image sensor. The anamorphism is compensated for in image processing, permitting higher resolution in one dimension along the image sensor. The manipulation of the beams prior to being split (and in some cases after or while being split) can take several forms, each offering distinct advantages over existing systems.

Provision of a technology capable of realizing estimation of forces of various types of disturbance acting on a robot arm in a surgical environment is desirable. Provided is a medical support arm system including a joint state acquisition unit configured to acquire a state of a joint unit of an arm unit, and an external force estimation unit configured to estimate an external force due to predetermined disturbance on the basis of a condition that the external force due to the predetermined disturbance is limited to one predetermined direction or a plurality of predetermined directions, and a state of the joint unit.

Provision of a technology capable of realizing estimation of forces of various types of disturbance acting on a robot arm in a surgical environment is desirable. Provided is a medical support arm system including a joint state acquisition unit configured to acquire a state of a joint unit of an arm unit, and an external force estimation unit configured to estimate an external force due to predetermined disturbance on the basis of a condition that the external force due to the predetermined disturbance is limited to one predetermined direction or a plurality of predetermined directions, and a state of the joint unit.

The invention relates to an endoscopic device, in particular medical or industrial endoscopic device, wherein the endoscopic device comprises, as components, a light source, an optical fiber, a camera, and an endoscope comprising an optical element or a plurality of optical elements, and at least one optical element comprises an optical marking for verifying an identity of the optical element and/or of the endoscope such that the optical marking can be detected by the camera for verifying the identity and/or a configuration of the endoscopic device. The invention furthermore relates to a method for verifying an identity of a component of an endoscopic device, and a computer program product for evaluating an image acquisition of an optical marking of an optical element and for identifying an endoscope of an endoscopic device.

Surgical visualization systems and related methods are disclosed herein, e.g., for providing visualization during surgical procedures. Systems and methods herein can be used in a wide range of surgical procedures, including spinal surgeries such as minimally-invasive fusion or discectomy procedures. Systems and methods herein can include various features for enhancing end user experience, improving clinical outcomes, or reducing the invasiveness of a surgery. Exemplary features can include access port integration, hands-free operation, active and/or passive lens cleaning, adjustable camera depth, and many others.

Surgical visualization systems and related methods are disclosed herein, e.g., for providing visualization during surgical procedures. Systems and methods herein can be used in a wide range of surgical procedures, including spinal surgeries such as minimally-invasive fusion or discectomy procedures. Systems and methods herein can include various features for enhancing end user experience, improving clinical outcomes, or reducing the invasiveness of a surgery. Exemplary features can include access port integration, hands-free operation, active and/or passive lens cleaning, adjustable camera depth, and many others.

An apparatus for intraoral imaging has an intraoral camera that defines a field of view with a first dimension and a second dimension orthogonal to the first dimension. A projector has a laser diode energizable to emit a light beam; a collimator in the path of the emitted light beam; first beam-shaping optics disposed to shape the collimated light beam in the second dimension to form a linear light pattern; focusing optics disposed to focus the shaped collimated beam at a focal plane; and a scanner that is disposed substantially at the focal plane and that is energizable to scan the formed linear light pattern along the second dimension to successive positions of the field of view. A control logic processor coordinates energizing the laser diode and scanner with image capture by the intraoral camera.

An apparatus for intraoral imaging has an intraoral camera that defines a field of view with a first dimension and a second dimension orthogonal to the first dimension. A projector has a laser diode energizable to emit a light beam; a collimator in the path of the emitted light beam; first beam-shaping optics disposed to shape the collimated light beam in the second dimension to form a linear light pattern; focusing optics disposed to focus the shaped collimated beam at a focal plane; and a scanner that is disposed substantially at the focal plane and that is energizable to scan the formed linear light pattern along the second dimension to successive positions of the field of view. A control logic processor coordinates energizing the laser diode and scanner with image capture by the intraoral camera.

An endoscope apparatus includes an optical system including a focus lens, a connector to which an interchangeable optical system is connected, an image sensor configured to output a captured image based on the optical system and the interchangeable optical system, and a processor including hardware. The processor performs a determination process of determining whether the interchangeable optical system is a known or unknown optical system, implements a first step amount determination process when the interchangeable optical system is determined to be a known optical system, and implements a second step amount determination process when the interchangeable optical system is determined to be an unknown optical system and controls the focus lens based on step amount information determined.

Various embodiments of the present invention comprise endoscopes for viewing inside a cavity of a body such as a vessel like a vein or artery. These endoscopes may include at least one solid state emitter such as a light emitting diode (LED) that is inserted into the body cavity to provide illumination therein. Certain embodiments of the invention comprise disposable endoscopes that can be fabricated relatively inexpensively such that discarding these endoscopes after a single use is cost-effective. The endoscope may comprise a lens holder on a distal end of the endoscope for collection of light reflected from surfaces within the body in which the endoscope is inserted. This lens holder may have an inner cavity through which light passes along an optical path. Reflective surfaces on sidewalls of the inner cavity may direct light along this optical path. The endoscope may further comprise an elongated support structure for supporting a plurality of lenses disposed along the optical path. This optical path may lead to a detector onto which images are formed.