Systems, devices, and methods for controlling cooperative surgical instruments with variable surgical site access trajectories are provided. Various aspects of the present disclosure provide for coordinated operation of surgical instruments accessing a common surgical site from different approach and/or separate body cavities to achieve a common surgical purpose. For example, various methods, devices, and systems disclosed herein can enable the coordinated treatment of tissue by disparate minimally invasive surgical systems that approach the tissue from varying anatomical spaces and must operate differently, but in concert with one another, to effect a desired surgical treatment.

An exemplary embodiment relates to a measuring method (50) and to a measuring device (10) in order to determine a length or an area within a scene (32) which are characterized at least partially by a real start point (40-2) and a real end point (42-2), wherein the measurement takes place using at least two images (18, 20) and it is thereby not necessary for the real start point (40-2) and the real end point (42-2) to be imaged in one of the images (18, 20).

An imaging system (100) comprises a multimode waveguide (Wm) configured to receive input light (Li) from a light source (20) into its proximal side (13p) and output a corresponding speckle pattern (Pn) based on the input light (Li) out of its distal side (13d) for illuminating a sample (S) to be imaged. A single-mode waveguide (Ws) is connected to the multimode waveguide (Wm) for coupling the input light (Li) from the light source (20) to the multimode waveguide (Wm). The multimode waveguide (Wm) has a relatively short length (Zm) and relatively high flexural rigidity (R) for maintaining a unique relation between the input characteristic (λ,A) of the input light (Li) into the multimode waveguide (Wm) and a spatial distribution (Ixy) of the speckle pattern (Pn). The single-mode waveguide (Ws) may be relatively long and flexible (F) for allowing movement of the short rigid multimode waveguide (Wm).

A system is disclosed that includes an optical fiber including a first optical module and a gate. The gate can be capable of moving between closed and opened states to form a slit. At least one storage medium can be included having encoded thereon executable instructions that, when executed by the at least one processor, cause the system to carry out a method including directing light from the first optical module through the slit onto the stone to form a pair of lines with a spacing between the pair of lines; and determining a size of the stone, based on a distance from a distal tip of the optical fiber and the spacing between the pair of lines.

Described are colonoscopy systems and methods of using such systems. The colonoscopy systems may include an optical scanning system having at least one illuminator configured to produce spatially patterned light and solid light in at least one frame to illuminate tissue within the colon, and at least one camera configured to capture the at least one image of the illuminated tissue within the colon. Additionally, the optical scanning system may include at least one control system configured to construct at least one three dimensional point cloud representations of the tissue within the colon and detect at least one feature of interest using the at least one three dimensional point cloud and a pre-trained artificial intelligence engine.

Offset illumination using multiple emitters in a fluorescence imaging system is described. A system includes an emitter for emitting pulses of electromagnetic radiation and an image sensor comprising a pixel array for sensing reflected electromagnetic radiation. The emitter comprises a first emitter and a second emitter for emitting different wavelengths of electromagnetic radiation. The system is such that at least a portion of the pulses of electromagnetic radiation emitted by the emitter comprises one or more of a hyperspectral emission, a fluorescence emission, and/or a laser mapping pattern.

An intra-oral optical scanning method for intra-oral optical scanning including projecting a pattern, the pattern including at least a first area illuminated by a first color of light and a second area illuminated by a second color of light and at least one non-illuminated area onto an intra-oral feature, making a first image of the first area, the second area and the non-illuminated area differentiating between the first color of light and the second color of light in the first image of the projected pattern, and determining from the image of the non-illuminated area at least one of an ambient light level, a level of scattered light, a level of light absorption and a level of light reflected from at least one of the first area and the second area. Related apparatus and methods are also described.

An apparatus includes a shaft, an imaging head, and a processor. The shaft includes a distal end sized to fit through a human nostril into a human nasal cavity. The imaging head includes an image sensor assembly, a plurality of light sources, and a plurality of collimators. At least some of the light sources are positioned adjacent to the image sensor assembly. Each collimator is positioned over a corresponding light source of the plurality of light sources. The processor is configured to activate the light sources in a predetermined sequence. The image sensor assembly is configured to capture images of a surface illuminated by the light sources as the light sources are activated in the predetermined sequence.

Systems and methods for deep tissue visualization using ultrasound and stereo imaging are provided. Various aspects of the present disclosure provide intraoperative identification of sub-tissue surface critical structures (e.g., identification of ureters, nerves, and/or vessels). For example, various surgical visualization systems disclosed herein can enable the visualization of one or more portions of critical structures below the surface of the tissue in an anatomical field in real-time. Such surgical visualization systems can augment the clinician's endoscopic view of an anatomical field with a virtual, real-time depiction of the critical structure as a visible image overlay on the surface of visible tissue in the field of view of the clinician.

In general, devices, systems, and methods for multi-source imaging are provided.