A stereo colposcope having variable linearity filter systems for both the excitation step and the suppression step, and can be used universally with any fluorescent compound or drug, as is the case of photodynamic diagnosis (PDD). The colposcope is a two-way colposcope because the treatment can be administered by an optical system or by a light-producing radio-frequency electrical current with a diathermic effect which facilitates photodynamic treatment. The colposcope produces ozone, which has an antiseptic effect when applied to the genital tract. A monitor provides for three-dimensional viewing through the use of two video cameras with the DLP (Digital Light Processing) and HDTV (High Definition Television) systems with the use of active lenses.

A method of determining a pressure of a body cavity with a controller of a fluid management system includes determining a pressure and a volume of a cuff disposed about a collapsible bag, determining a volume of the collapsible bag based on the pressure and the volume of the cuff, and determining a pressure of the collapsible bag based on the volume of the collapsible bag. The method also includes calculating a fluid flow from the collapsible bag into a body cavity from the collapsible bag and determining a pressure of the body cavity based on the fluid flow.

A surgical system can include a first instrument defining a first channel and a second instrument receivable by the first channel. The second instrument can include a second channel. A valve coupled to the first instrument controls fluid flow through the first channel. The valve has at least two positions and in one position, the impedance of fluid flow through the valve into the first channel (when the second instrument is not received in the first channel) is substantially the same as when the valve is the other position and the first channel partially blocked by the second instrument. In another aspect, a surgical system can include an outer member and the first instrument can be received within the outer member to define a second channel there between. The first instrument can include a visualization system and an illumination system.

A surgical system can include a first instrument defining a first channel and a second instrument receivable by the first channel. The second instrument can include a second channel. A valve coupled to the first instrument controls fluid flow through the first channel. The valve has at least two positions and in one position, the impedance of fluid flow through the valve into the first channel (when the second instrument is not received in the first channel) is substantially the same as when the valve is the other position and the first channel partially blocked by the second instrument. In another aspect, a surgical system can include an outer member and the first instrument can be received within the outer member to define a second channel there between. The first instrument can include a visualization system and an illumination system.

A method of initializing the layout of one or more robotic arms controllable by an input object, comprising: entering a paused mode, in which control of movement of the robotic arms by the input object is paused; measuring an input object initialization layout, defined by the layout of at least one segment of the input object; actuating at least a portion of the robotic arms to match the input object initialization layout; and entering a controlled mode, in which movements of the input object control the robotic arms.

A method of initializing the layout of one or more robotic arms controllable by an input object, comprising: entering a paused mode, in which control of movement of the robotic arms by the input object is paused; measuring an input object initialization layout, defined by the layout of at least one segment of the input object; actuating at least a portion of the robotic arms to match the input object initialization layout; and entering a controlled mode, in which movements of the input object control the robotic arms.

A method includes: delivering a biodegradable expandable member into a body cavity of a patient; insufflating the biodegradable expandable member in the body cavity to expand the body cavity; sealing the biodegradable expandable member against an inner wall of the body cavity to seal the body cavity internally; and delivering an endoscope into the body cavity.

A method includes: delivering a biodegradable expandable member into a body cavity of a patient; insufflating the biodegradable expandable member in the body cavity to expand the body cavity; sealing the biodegradable expandable member against an inner wall of the body cavity to seal the body cavity internally; and delivering an endoscope into the body cavity.

A polarization-based colposcopy apparatus includes a polarization exchanging beam splitter pair oriented so that s- and p-polarizations are exchanged. An optical flux from a specimen is directed through the pair, and orthogonal components thereof are alternately or selectively coupled to an array detector. The detected images are processed based on image correlations to reveal specimen structures.

A polarization-based colposcopy apparatus includes a polarization exchanging beam splitter pair oriented so that s- and p-polarizations are exchanged. An optical flux from a specimen is directed through the pair, and orthogonal components thereof are alternately or selectively coupled to an array detector. The detected images are processed based on image correlations to reveal specimen structures.