In a stereoscopic image recording method (34), it is provided to transform depth information (13) with respect to an image pair (40) of a stereoscopic image (24) based on an alignment angle (23) in order to generate an aligned stereoscopic image (29), the transformed depth information (26) being used in order to generate a complementary image (27) of the stereoscopic image (40) in a computer-aided manner.

A novel dual-path-endoscope where a multi-function light source produces a first-light and a second-light toward an object. The first-light exhibits first-light-characteristics. The second-light exhibits second-light-characteristics different from the first-light-characteristics. The endoscope includes two light-paths, the disparity there between is larger than zero. Each light-path includes a respective pupil and a respective light-separator coupled with the pupil, transmitting there through one of the first-light and the second-light, associating the first-light and the second-light with a respective light-path. The dual-channel-imager includes two imaging sensors, each associated with a respective light-path and optically coupled with a respective light-separator. Each imaging-sensor exhibits sensitivity to the characteristics of the respective one of the first-light and the second-light. A first imaging-sensor acquires a first-image of the first-light reflected of the object and a second imaging-sensor acquires a second-image of the second-light reflected of the object. The processor processes the acquired images.

A future shape estimation apparatus includes an insertion section, a shape sensor and an insertion section future shape estimation circuit. The insertion section has flexibility and is to be inserted into an observation target object. The shape sensor detects a bending state of the insertion section and outputs a detection signal. The insertion section future shape estimation circuit estimates a future shape of the insertion section after a predetermined lapse of time based on information acquired from the detection signal output from the shape sensor, and outputs the future shape as future estimation shape information.

Rotatable, oblique-viewing stereoendoscope including a dual-pupil aperture divided to a first pupil and a second pupil, a proximal objective assembly positioned proximally to the dual-pupil aperture, a first image sensor configured to detect a first image focused by the proximal objective assembly and a second image sensor configured to detect a second image focused by the proximal objective assembly, a relay system positioned distally to the dual-pupil aperture and a front optical system positioned distally to the relay system, the front optical system including a folding prism, wherein the front optical system is configured to reimage the dual-pupil aperture at a distal end thereof, thereby producing an image of the first pupil and an image of the second pupil at a distal pupil plane and wherein the stereoendoscope does not include a negative power lens positioned distally to the folding prism.

In an endoscope (1), two optical paths (3, 4) for stereoscopic vision are formed, wherein each optical path (3, 4) is lead from the inside to an interface (16, 19) with an optically more dense material (14) in relation to the surroundings (13) at a point of incidence (22, 25), wherein each optical path (3, 4) can be opened and interrupted by modifying the reflection behavior at the respective point of incidence (22, 25).

In a minimally invasive surgical system, an image capture unit includes a prism assembly and sensor assembly. The prism assembly includes a beam splitter, while the sensor assembly includes coplanar image capture sensors. Each of the coplanar image capture sensors has a common front end optical structure, e.g., the optical structure distal to the image capture unit is the same for each of the sensors. A controller enhances images acquired by the coplanar image capture sensors. The enhanced images may include (a) visible images with enhanced feature definition, in which a particular feature in the scene is emphasized to the operator of minimally invasive surgical system; (b) images having increased image apparent resolution; (c) images having increased dynamic range; (d) images displayed in a way based on a pixel color component vector having three or more color components; and (e) images having extended depth of field.

A stereo comparator configured for use with a stereo endoscope for adjusting and aligning an optical assembly of the stereo endoscope, for example, in connection with the repair of the endoscope. The comparator includes a housing containing a plurality of optical components, namely, a first deflecting component, a second deflecting component, a third deflecting component and a beam splitter. The optical components are arranged so that the first deflecting component deflects a first beam from a right image channel of a stereo endoscope to the beam splitter, the second deflecting component deflects a second beam from a left image channel of the stereo endoscope to the third deflecting component, the third deflecting component deflects the second beam to the beam splitter and the beam splitter combines the first beam with the second beam to form a first combined beam that extends along an optical axis of the stereo endoscope.

A surgical apparatus is provided including an endoscope, a camera, a light source, and a structured light pattern source. The endoscope includes an elongate body having a plurality of segments manipulatable relative to one another. The camera, light source, and structured light pattern source cooperate to determine the topography of a surface within a patient. A method of performing surgery is also provided.

An endoscope system includes an image pickup portion configured to pick up an image of a subject and output the image as an electrical signal, a processor configured to perform, on the electrical signal, a signal correction that converts the electrical signal into a signal of a video format that is compatible with a signal processed by the image processing apparatus, and an image processing portion configured to perform image processing on the electrical signal after the signal correction. An E/O converter that converts the electrical signal into an optical signal, an optical fiber that transmits the optical signal, and an O/E converter that converts the optical signal into the electrical signal, are arranged in at least one of between the image pickup portion and the processor, and between the processor and the image processing portion.

An objective optical system for an endoscope consists of a front group, an aperture stop, and a positive rear group in order from an object side. The front group consists of a negative first lens having a smaller absolute value of a curvature radius of a lens surface on an image side than that on an object side, and one or more parallel planar members of which an incidence surface and an emission surface are perpendicular to an optical axis, in order from the object side. The rear group consists of a positive second lens and a cemented lens in which a negative third lens, and a positive fourth lens are joined together in order from the object side and a cemented surface has a concave surface toward the image side. A predetermined conditional expression is satisfied.