A method comprises determining a predicted pose of an elongate medical device within a patient anatomy. The method further comprises extracting a plurality of reference images from 3-D reference information, wherein the plurality of reference images includes a predicted reference image corresponding to the predicted pose of the elongate medical device. The method comprises capturing an x-ray image of the patient anatomy, wherein the captured x-ray image includes captured x-ray attenuation information. The method further comprises searching for a closest matching reference image between the captured x-ray image and one of the plurality of reference images. The method comprises determining an offset between the captured x-ray image and the closest matching reference image.

A surgical access assembly comprises a trocar and a surgical instrument. The trocar comprises a housing and an access tube extending distally from the housing. The housing comprises a hollow light emitter. The housing and the access tube define a lumen extending through the housing and the access tube. The hollow light emitter is configured to project light in the lumen. The surgical instrument comprises an end effector and a shaft extending proximally from the end effector. The shaft comprises an optical receiver positioned within reach of the light from the hollow light emitter. The shaft further comprises a light guide extending from the optical receiver along at least a portion of the shaft toward the end effector.

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.

An outer sheath used with a surgical access assembly is disclosed. The outer sheath includes a proximal end, a distal end and a body portion therebetween. The proximal end defines a first opening. The distal end is disposed opposite the proximal end and defines a second opening. The body portion includes at least one slot formed therein. At least one light source is retained within the slot, adjacent the proximal end.

An endoscope module including an annular prism, an annular lens, an annular stop, and an annular image sensor is provided. The annular prism has an annular reflective inclined surface, a light incident surface, and a light emitting surface. The light incident surface faces a side surface and the light emitting surface faces away from a front surface. The annular stop is disposed on a side of the light incident surface of the annular prism and surrounds the annular prism. The annular lens is disposed between the annular prism and the annular image sensor. A lateral light from the side surface is reflected to the annular lens by the annular reflective inclined surface after passing through the annular stop and then entering the annular prism, and is then condensed to the annular image sensor by the annular lens.

An illuminating ring assembly is disclosed. The illuminating ring configured to be used with a surgical access element. The illuminating ring assembly comprises a housing defined by a cover and a wall member extending from the cover, wherein the cover and wall member cooperate to define a cavity therein, a light element configured to be disposed with the cavity, and an attachment mechanism configured to selectively attach the housing to a surgical access element. Wherein the cover and the light element both include an opening therethrough.

Disclosed embodiments integrate a camera into an intraoral mirror. Integrating a camera into an intraoral mirror provides an efficient way to record and display what is visible to the healthcare provider in the mirror.

An endoscope illumination unit includes: an incident part into which illuminating light guided via a light guide enters; a light guide body that includes an annular section having an inner peripheral surface and that guides the illuminating light having entered via the incident part and emits the illuminating light from an outer surface of the annular section; and a reflective sheet that has opposite end portions and that is provided on the inner peripheral surface of the annular section and scatters the illuminating light, having entered the light guide body, within the annular section. The opposite end portions of the reflective sheet bent in conformity to the inner peripheral surface of the annular section is positioned at a portion of the inner peripheral surface remote from the incident part.

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. In various instances, a robotic camera of the surgical visualization system can monitor and track one or more tagged structures.

An endoscope includes: an imaging unit that is incorporated in a distal tip of an insertion tube and images an observed site through an observation window; a plurality of first LEDs juxtaposed outside the imaging unit; and a plurality of second LEDs juxtaposed outside a region where the first LEDs are juxtaposed. The region where the first LEDs are juxtaposed and a region where the second LEDs are juxtaposed are covered with a light distribution lens, light emission of the first LED is output to an angular range smaller than a viewing angle of the imaging unit through the light distribution lens, and light emission of the second LED is output to an angular range smaller than the viewing angle of the imaging unit through the light distribution lens.