A robotic surgical system comprises a surgical instrument moveable by a robotic manipulator within a work area. A processor is configured to receive input identifying a structure at the operative site to be avoided by the surgical instrument, to automatically determine whether the surgical instrument is approaching contact with the structure, and to initiate an avoidance step if the system determines that the surgical instrument is approaching contact with the structure.

A medical system can include a light source configured to generate excitation light; and a processor including a memory, the processor: controlling energy supplied to an energy device, the light source generating the excitation light to generate fluorescence from the living body tissue heat treated by the energy device; generating a fluorescence image based on an image pickup signal obtained by imaging the living body tissue; and generating a control signal that restricts energy supply to the energy device and output the control signal to the energy control apparatus when a pixel value of at least one pixel in the fluorescence image exceeds a first threshold value.

An endoscope apparatus according to the present invention includes: a light source device configured to continuously emit first light of a first wavelength band, and sequentially emit second light of plural second wavelength bands different from the first wavelength band and different from each other; and an imaging device including: a spectroscopic unit configured to spectrally separate light from a subject, the light being due to illumination light emitted by the light source device, into light of the first wavelength band and light of the second wavelength bands; a first imaging element configured to generate a first image signal by receiving and photoelectrically convert the light of the first wavelength band spectrally separated by the spectroscopic unit; and a second imaging element configured to generate a second image signal by respectively receiving and photoelectrically converting the light of the second wavelength bands spectrally separated by the spectroscopic means.

An imaging lens of the present disclosure includes, in order from object side toward image plane side: a first lens having positive refractive power in the vicinity of an optical axis; a second lens having positive refractive power in the vicinity of the optical axis; a third lens having negative refractive power in the vicinity of the optical axis; a fourth lens having negative refractive power in the vicinity of the optical axis; a fifth lens having negative refractive power in the vicinity of the optical axis; a sixth lens having negative refractive power in the vicinity of the optical axis; and a seventh lens of which a lens surface on the image plane side has an aspheric shape having an inflection point.

One of two connector receiving parts of a processor for endoscope has a shutter mechanism configured to open a shutter by an external force, the shutter having a gap through which a connector-side connection end section passes, and being configured to partition a recessed space of the connector receiving part with respect to an outside. In addition, the processor for endoscope includes a lock mechanism configured to make the shutter into the locked state during a period when another connection end section on the connector side and a processor-side connection end section are connected, and release the locked state of the shutter when the connection between the other connection end section on the connector side and the processor-side connection end section is released.

Driving an emitter to emit pulses of electromagnetic radiation according to a jitter specification in a hyperspectral, fluorescence, and laser mapping imaging system is described. 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 driver for driving emissions by the emitter according to a jitter specification. The system is h 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, and/or a laser mapping pattern.

In certain embodiments, an illuminating endoprobe system includes one or more light sources, a housing, a vitreous visualization fiber, and a general illumination fiber. The light sources generate a visualization light and an illumination light. The housing receives the visualization and illumination light, and has a probe tip with a probe axis. The vitreous visualization fiber transmits the visualization light through the probe tip. The visualization light has a visualization axis and a visualization beam angle at the probe tip. The general illumination fiber transmits the illumination light through the probe tip. The illumination light has an illumination axis and an illumination beam angle at the probe tip. The illumination beam angle is greater than the visualization beam angle, and the illumination axis is at an offset angle relative to the visualization axis, where the offset angle greater than 5 degrees.

In some embodiments, an insertion device for a single port robotic surgery apparatus includes a plurality of instrument channels positioned in an interior of a housing and extending along substantially an entire length of the housing, the plurality of instrument channels configured to removably house a plurality of surgical instruments, a plurality of openings in a rear exterior surface of the housing, the plurality of openings providing access to the plurality of instrument channels and configured to facilitate insertion of the plurality of surgical instruments into the plurality of instrument channels, and an illumination device supported at least partially at the rear exterior surface of the housing and positioned proximal to the plurality of openings, the illumination device configured to illuminate the openings to facilitate insertion of the plurality of instruments through the plurality of openings.

An endoscopic device includes a manipulator body and an insertion portion including opposed respective proximal and distal ends. The insertion portion is connected to the manipulator body via the proximal end. A first heat generator is configured to be attached to the manipulator body. A heat radiator is configured to be detachably attached to the manipulator body and is thermally connected to the first heat generator. The heat radiator includes at least one air inlet port through which air flows in and at least one air outlet port having an area smaller than an area of the at least one air inlet port.

A light source for illuminating a target for medical imaging include a first light emitter package comprising a first light emitter that emits light having a first wavelength band and a second light emitter that emits light having a second wavelength band that is different than the first wavelength band; and a controller for operating the light source in a first mode in which the first light emitter is activated and the second light emitter is deactivated and a second mode in which the first light emitter is deactivated and the second light emitter is activated.