A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.

An optical system includes a first relay rod of a first material, a second relay rod of a second material, different from the first material, and a lens between the first and second relay rods.

An optical system includes a first relay rod of a first material, a second relay rod of a second material, different from the first material, and a lens between the first and second relay rods.

Improved fluoresced imaging (FI) endoscope devices and systems are provided to enhance use of endoscopes with FI and visible light capabilities. An endoscope device is provided for endoscopy imaging in a white light and a fluoresced light mode. A chromatic adjustment assembly, typically implemented with prisms, compensates for a chromatic focal difference between the white light image and the fluoresced light image caused by the dispersive properties of the optical materials or optical design employed in the construction of the optical channel. The assembly is placed optically between the most proximal rod lens of the endoscope and the focusing optics, typically at an internal telecentric image space, to improve the chromatic correction. The prism assembly directs incoming light with different spectral content along separate paths which compensate for chromatic aberration.

Improved fluoresced imaging (FI) endoscope devices and systems are provided to enhance use of endoscopes with FI and visible light capabilities. An endoscope device is provided for endoscopy imaging in a white light and a fluoresced light mode. A chromatic adjustment assembly, typically implemented with prisms, compensates for a chromatic focal difference between the white light image and the fluoresced light image caused by the dispersive properties of the optical materials or optical design employed in the construction of the optical channel. The assembly is placed optically between the most proximal rod lens of the endoscope and the focusing optics, typically at an internal telecentric image space, to improve the chromatic correction. The prism assembly directs incoming light with different spectral content along separate paths which compensate for chromatic aberration.

The end result, with the combination of an anti-fogging system that can be thermoregulated by means of a micro controller, for rigid endoscopes, which is the subject matter of the invention, is to have an apparently standard rigid endoscope (FIG. 4) that can withstand continuous temperature changes during surgical intervention, imparting value to the endoscopic device and preventing general fogging. With this thermoregulatable anti-fogging system, temperature levels can be controlled, it thereby being easy to prevent fogging/condensation in any intervention where a rigid endoscope is used, such as hysteroscopy, cystoscopy, general surgery, arthroscopy, etc. Using the invention completely prevents the need for the surgeon to remove the endoscope from inside the patient in the middle of surgery.

Thus, the surgeon does not become fatigued by continuous poor visibility. This reduces the duration of the intervention, optimising the process and providing the quality of vision anticipated for the endoscope in question.

A surgical assembly may comprise an actuator system including a plurality of wedge-shaped actuator assemblies arranged radially around a longitudinal axis. The surgical assembly may also comprise a first instrument assembly including a first elongate instrument shaft and a first wedge-shaped transmission mechanism coupled at a proximal end of the first elongate instrument shaft. The first wedge-shaped transmission mechanism is configured to engage a first wedge-shaped actuator assembly of the plurality of wedge-shaped actuator assemblies. The first wedge-shaped actuator assembly is movable linearly, relative to the other of the plurality of wedge-shaped actuator assemblies of the plurality of wedge-shaped actuator assemblies, along a path parallel to the longitudinal axis to linearly translate the first instrument assembly.

A surgical assembly may comprise an actuator system including a plurality of wedge-shaped actuator assemblies arranged radially around a longitudinal axis. The surgical assembly may also comprise a first instrument assembly including a first elongate instrument shaft and a first wedge-shaped transmission mechanism coupled at a proximal end of the first elongate instrument shaft. The first wedge-shaped transmission mechanism is configured to engage a first wedge-shaped actuator assembly of the plurality of wedge-shaped actuator assemblies. The first wedge-shaped actuator assembly is movable linearly, relative to the other of the plurality of wedge-shaped actuator assemblies of the plurality of wedge-shaped actuator assemblies, along a path parallel to the longitudinal axis to linearly translate the first instrument assembly.

An observation instrument includes an instrument shaft having a distal end and a proximal end, and an optical arrangement extending at least sectionally through the instrument shaft. The optical arrangement includes at least one optical component that is accommodated in a support shaft. The support shaft is arranged in the instrument shaft in an at least sectionally axially displaceable manner and is preloaded distally.

A surgical system comprises a manipulator arm and a surgical instrument. The surgical instrument includes: a transmission mechanism including a plurality of interface members; and an elongate body extending from the transmission mechanism. The surgical system further includes an instrument mounting structure mounted to the manipulator arm. The transmission mechanism of the surgical instrument is removably couplable to the instrument mounting structure. The instrument mounting structure includes a plurality of actuator members and a passage defined within the instrument mounting structure. When the surgical instrument is coupled to the instrument mounting structure: the plurality of interface members mate with the plurality of actuator members; and the elongate body of the surgical instrument extends between at least some of the plurality of actuator members and through the passage.