A robotic imaging apparatus is disclosed. A robotic imaging apparatus includes a robotic arm, a stereoscopic camera, and a sensor positioned between the robotic arm and the stereoscopic camera. The sensor transmits output data that is indicative of translational and/or rotational force imparted on the stereoscopic camera by an operator. The robotic imaging apparatus also includes a processor that is configured to determine a movement sequence for the robotic arm based on a current position of the robotic arm and the output data from the sensor and to cause at least one of the joints of the robotic arm to rotate based on the determined movement sequence via one or more motor control signals provided to the at least one joint. The rotation of the at least one joint provides power-assisted movement of the robotic arm based on the detected translational and/or rotational forces imparted by the operator.

A viewing system or imaging system is disclosed that includes optical pieces for viewing a subject. The viewing system may include features that allow an augmented mixed view through eyepieces of the viewing system. The mixed view may include graphical representations that are acquired or determined with information separate from the viewing system.

Provided is an image processing device including: a matching unit that performs matching processing between a predetermined pattern on a surface of a 3D model of a biological tissue including an operating site generated on the basis of a preoperative diagnosis image and a predetermined pattern on a surface of the biological tissue included in a captured image during surgery; a shift amount estimation unit that estimates an amount of deformation from a preoperative state of the biological tissue on the basis of a result of the matching processing and information regarding a three-dimensional position of a photographing region which is a region photographed during surgery on the surface of the biological tissue; and a 3D model update unit that updates the 3D model generated before surgery on the basis of the estimated amount of deformation of the biological tissue.

Methods and systems for controlling a surgical microscope. Moveable optics of the surgical microscope are controlled using two sets of control parameters, to reduce jitter and image instability. Shifts in the image due to changes in temperature or due to the use of optical filter can also be compensated. Misalignment between the mechanical axis and the optical axis of the surgical microscope can also be corrected.

Methods and systems for controlling a surgical microscope. Moveable optics of the surgical microscope are controlled using two sets of control parameters, to reduce jitter and image instability. Shifts in the image due to changes in temperature or due to the use of optical filter can also be compensated. Misalignment between the mechanical axis and the optical axis of the surgical microscope can also be corrected.

A monitor is arranged on the opposite side of a surgery table to a main doctor so that an assistant is able to view a surgery area directly without being blocked by the monitor. A camera has a working distance of more than or equal to 60 cm and is therefore above a view field for the main doctor to view the monitor, so that the visibility of the monitor is not hindered. The working distance is not more than 100 cm so that the resolution of the camera is not lowered too much.

A three-dimensional information generation unit generates a three-dimensional map (D(X, Y, Z)) (three-dimensional information) regarding a surgical field, based on a surgical field image (K(x, y)) captured by an imaging device. A region-of-interest setting unit (setting unit) then sets at least one region-of-interest in the surgical field image (K(x, y)) captured at a predetermined timing. Based on the three-dimensional map (D(X, Y, Z)) and the position of the region-of-interest set by the region-of-interest setting unit, a region-of-interest estimation unit (estimation unit) estimates an existence position of the region-of-interest from within the surgical field image (K(x, y)) captured at a timing different from the predetermined timing. Subsequently, a zoom processing unit (magnified image generation unit) generates a magnified surgical field image (L(x, y)) in which the estimated region-of-interest is magnified by a predetermined magnification, and a display control unit outputs at least the magnified surgical field image (L(x, y)).

A three-dimensional information generation unit generates a three-dimensional map (D(X, Y, Z)) (three-dimensional information) regarding a surgical field, based on a surgical field image (K(x, y)) captured by an imaging device. A region-of-interest setting unit (setting unit) then sets at least one region-of-interest in the surgical field image (K(x, y)) captured at a predetermined timing. Based on the three-dimensional map (D(X, Y, Z)) and the position of the region-of-interest set by the region-of-interest setting unit, a region-of-interest estimation unit (estimation unit) estimates an existence position of the region-of-interest from within the surgical field image (K(x, y)) captured at a timing different from the predetermined timing. Subsequently, a zoom processing unit (magnified image generation unit) generates a magnified surgical field image (L(x, y)) in which the estimated region-of-interest is magnified by a predetermined magnification, and a display control unit outputs at least the magnified surgical field image (L(x, y)).

A medical observation apparatus includes: a camera including a first imager including a plurality of pixels and configured to image a first medical captured-image in which an observation target is imaged, and a second imager including a plurality of pixels, and configured to image a second medical captured-image in which the observation target is imaged, the second imager including more effective pixels than the first imager; and a display controller configured to cause displays to display the first medical captured-image and an image that corresponds to a region set to the second medical captured-image on a display screen of the respective one of the displays corresponding thereto, wherein one of the first medical captured-image and the second medical captured-image is a medical captured image for a right eye, and another one of the first medical captured-image and the second medical captured-image is a medical captured image for a left eye.

An ophthalmic surgical system includes a robotic arm disposed above a patient's eye. A positioning camera is disposed on the robotic arm and positioned to visualize the patient's eye. A processor is electrically coupled to the positioning camera. The processor is configured to receive an indication of a position of the robotic arm relative to a fixed datum, determine a focal length between the positioning camera and the patient's eye, compare the focal length to the position of the robotic arm, and determine a patient eye level relative to the fixed datum.