A controller controls an image that is captured by an image sensor of an endoscope and is displayed on the display screen of a display device. The controller includes a processor. The processor acquires a first image that is an image captured by the image sensor, detects a first angle of a surgical instrument, and generates a second image rotated with respect to the first image on the basis of the first angle and a predetermined target angle. The first angle is an angle formed by the surgical instrument in the first image with respect to a predetermined reference line that is set with respect to a plane of the first image. A second angle formed by the surgical instrument in the second image with respect to the predetermined reference line is equal to the predetermined target angle.

A medical system includes an endoscope that captures an image including an object, a moving device that includes a robot arm and that moves the endoscope in a body, and a controller that controls the moving device on the basis of the position of the object. The controller is configured to control the moving device in a first control mode in which the endoscope is caused to follow the object at a first speed and a second control mode in which the endoscope is caused to follow the object at a second speed lower than the first speed. The controller controls the moving device in the first control mode when the object is located outside a predetermined three-dimensional region set in a field of view of the endoscope. The controller controls the moving device in the second control mode when the object is located in the predetermined three-dimensional region.

An endoscope system includes: a drive cable; an endoscope that has a bending portion that is capable of bending and is driven by the connected drive cable; a drive device that electrically drives the connected drive cable; a trolley equipped with the drive device; a stand that connects the drive cable and the endoscope and is capable of being installed at a position away from the trolley; and an operation device that is communicably connected to the drive device and attached to the stand.

An endoscope system includes: a drive cable; an endoscope driven by the drive cable that has been connected; a drive device that electrically drives the connected drive cable; a trolley equipped with the drive device; and a stand that supports a connector that detachably connects the drive cable and the endoscope, and is capable of being installed at a position away from the trolley.

A motorized introducer apparatus for translating an elongate shaft of an endoscope relative to a patient may include a body, a motor fixedly attached to the body, a drive gear coupled to the motor, a drive wheel coupled to the drive gear, and a support wheel positioned adjacent the drive wheel. The elongate shaft of the endoscope is disposable between the drive wheel and the support wheel at an engagement location such that the elongate shaft is configured to selectively move longitudinally along an axis of movement. A surgical system may include the motorized introducer apparatus and a support frame attachable to a surgical bed. The motorized introducer apparatus may be secured to the support frame.

A surgical system according to an embodiment may include: manipulators supporting an endoscope and surgical instruments, respectively; a remote control apparatus including: a first display device including a first display to display an endoscope image captured by the endoscope; and two operation handles to operate two of the surgical instruments; a controller configured to display, on the first display, a graphical user interface superimposed on the endoscope image; and an input device provided to at least one of the manipulators to receive a predetermined input from a user, wherein the controller is configured to display, in response to the predetermined input through the input device when a distal end of at least one of the surgical instruments is located outside a field of view of the endoscope, a mark indicating the surgical instrument outside the field of view of the endoscope in the graphical user interface.

A surgical system for use with a surgical robot may include an endoscope including a handle and an elongate shaft extending distally from the handle, an attachment mechanism including a fixture configured to receive the handle of the endoscope and a mounting structure configured to attach the fixture to the surgical robot, a motorized introducer apparatus spaced apart from the surgical robot and configured to translate the elongate shaft of the endoscope relative to a patient, and an input device configured to be operated using one hand only. The input device may include a plurality of tactile buttons operable using the one hand, and a joystick configured for operation by a thumb of the one hand. The input device may include a plurality of motion sensors configured to determine position and orientation of the input device in space.

An attachment mechanism for using an endoscope with a surgical robot may include a fixture configured to receive a handle of the endoscope such that a longitudinal axis of the handle is oriented parallel with a longitudinal axis of the fixture and an elongate shaft of the endoscope extends distally away from the fixture, and a mounting structure secured to the fixture. The mounting structure is configured to attach the fixture to the surgical robot. The fixture includes a retaining mechanism configured to releasably secure the handle within the fixture. The fixture includes a first motor operably coupled to a first drive mechanism, the first drive mechanism being configured to engage the handle of the endoscope to operate a deflection mechanism of the endoscope.

A portable endoscopic inspection system comprises an endoscope having a proximal end with a flanged eyepiece for observation and a distal end with a lens assembly for insertion into a region of interest. A light port transports incident light to the region of interest along an lighting pathway, and reflected light is transported along an imaging pathway from the lens assembly to the eyepiece. A wireless imaging unit comprises a light source which detachably couples to the light port for generating the incident light, and an imaging sensor for recording images of the reflected light from the eyepiece. The wireless imaging unit comprises a variable coupling system which mechanically couples the imaging sensor to the flanged eyepiece independent of the shape and/or size of the flange of the eyepiece.

Systems and methods are provided for preparation of orthodontics and prosthodontics. A method may include scanning a patient's teeth to form first 3D data of the patient's teeth including a removable element that obscures part of the dental surfaces of the patient's teeth and non-obscured tooth surfaces, removing the removable element form the patient's teeth so that the removable element no longer obscures the part of the dental surfaces of the patient's teeth, and scanning the previously obscured part of the dental surfaces of the patent's teeth and the non-obscured tooth surfaces.