Abstract: The illuminating light transmitted by the light guide inserted through the elongate inserted section is projected out of the distal end surface of the inserted section. The illuminated objects pass through the respective non-superimposed pupils of the two objective lens systems arranged in parallel within the distal end section of the inserted section and their images, which are not equal to each other are formed on the focal surface. The respective images are transmitted to the rear side by one common relay lens system having a single optical axis. The transmitted final images are formed respectively on the image taking surfaces of the image taking devices. The respective images photoelectrically converted by the respective image taking devices are processed to be signals, are displayed in the monitor and are stereo-inspected through shutter spectacles.

Abstract: Apparatus and method for providing stereo-image pairs, typically for use in endoscopy. A birefringent optical component creates two virtual pupils to provide spaced view points of an object field through a single real pupil, the light from each of the two view points having a respectively different polarization. The birefringent component may be in the form of a calcite slab or comprise liquid crystal material. By suitable orientation of two such components with respect to each other, the path lengths for the two polarizations of light may be made equivalent and rotation of the planes of polarization of this light through 90 degrees by means disposed between the birefringent components can improve the performance of the system. The rotation device may comprise a half-wave plate or a layer of liquid crystal material. By tilting the slab of calcite, the observer may be provided with a change in view point and, thereby, some motion parallax.

Abstract: A front end structure of a stereoscopic endoscope comprises a lens barrel main body 3 having a pair of lens barrel portions 31R, 31L for holding and accommodating a pair of objective optical systems 32R, 32L so as to make them project toward an object, respectively; and a front end part main body 2 formed with a pair of holes 21R, 21L for receiving the respective lens barrel portions 31R, 31L, while the image-side end portion of the front end part main body 2 is formed like a cylinder surrounding the lens barrel main body 3. The left and right side portions 41R, 41L of the outer peripheral surface of the lens barrel main body 3 are inscribed in the cylindrical portion 26 of the front end part main body 2, so that the lens barrel main body 3 and the front end part main body 2 slidably mate with each other. As a consequence, the front end part main body 2 and the lens barrel main body 3 can be assembled to each other while in a state positioned with respect to each other with a high accuracy.

Abstract: A front end lens 11 of a pair of objective lenses 32R, 32L disposed the object-side end face of a front end part 1 of a stereoscopic endoscope has a so-called D-cut lens form in which both side portions of a spherical lens are cut off, whereby spaces for arranging illumination windows 13, lens surface washing nozzles 15, and heads of fastening screws 14 for fastening the front end part 1 to a front end part main body 2 are secured at the front end face of the front end part 1, while keeping its function of yielding a sufficient angle of convergence .theta.. A positioning pin 16 formed in the front end part main body 2 is inserted into a pin insertion groove 17 formed in a protrusion 12 of the front end part 1 at an eccentric position of the protrusion 12, whereby both members 1, 2 are inhibited from rotating relative to each other, and the relative positional relationship between the front end lens 11 and the pair of objective optical systems 32R, 32L can reliably be fixed.

Abstract: A three-dimensional video signal is generated by an objective lens, a stereo lens optical system, such as a stereo doublet lens for example, one or more image-to-signal converters, and a multiplexer. A three-dimensional monitor or two head mounted monitors may be used to render (e.g., display) the three dimensional video signal.

Abstract: A stereoscopic endoscope system for producing images that can be perceived in three dimensions. An endoscope apparatus includes a sheath carrying a light source and two independent fixed lens endoscopes. Collimated light from the proximal ends of each endoscope are directed along folded optical paths to independent video cameras. The images generated by the video cameras energize monitors in a virtual reality display device that can be positioned proximate an observer's eyes. Adjustable mirrors and the provision of the rotation of at least one of the video cameras on its axis facilitate the alignment of the images for maximum effect.

Abstract: An image display system which provides first and second images such that the right eye and the left eye of an observer see the first and second images at different times, respectively. The image display system comprises a camera for taking a picture of the observer and then outputting an image of the observer; a liquid crystal display device transparent to light, for displaying the first and second images at the different times, respectively; a back-lighting device which displays back light images to illuminate the liquid crystal display device from a back side thereof, at the different times; and an optical element for giving directivity to back light emitted by the back-lighting device so that the back-lighting device provides back light illuminations of the LCD device for the right and left eyes at the different times. The apparatus detects centroids or contours of images of the observer taken by the camera, and generates the back-light images on the basis of the centroids or contours.

Abstract: A stereoscopic image sensor may be formed of a single image sensor having a pair of fields formed therein. The fields may be closer to one another than are a pair of left and right image collectors. The close spacing may be achieved by using an image redirector to redirect image information from the spaced apart collectors to the less spaced apart fields on the image sensor. In some embodiments of the present invention, by using a single imaging sensor, a more compact structure may be achieved which may be of lower cost and may enjoy reduced processing complexity. In addition, because a single sensor is utilized, in some embodiments of the present invention, the left and right images may be captured essentially identically.

Abstract: A stereo-endoscope, by which two perspective views of an objective field are viewed, is provided. A divergent optical arrangement, positioned between the object field and two objective lenses, each of which forms a respective image of the object field, reduces the disparity between corresponding points in the two image fields, where such disparity is caused by distortion of the image formed.

Abstract: A stereoscopic endoscope is provided having a primary optical system for forming an image of an object, a device for dividing the light transmitted by the primary optical system into two light beams, and a pair of optical systems for detecting the image formed by the primary optical system. Each of the secondary optical systems may receive one of the light beams and form an image of the object on a corresponding imaging device. The stereoscopic endoscope may also include a device for adjusting a position of the light dividing device relative to an optical axis and an exit pupil of the primary optical system, and a device for detecting a position of the light dividing device in accordance with each of the output image signals.

Abstract: A stereo laparoscope for producing a stereoscopic optical image of an intracorporeal region to be view through a small incision. The stereo laparoscope includes a conventional elongate tubular casing having an illuminating window and left and right observation windows disposed in a distal extremity thereof, said distal extremity for insertion within the human body. At least two separate optical imaging assemblies are disposed within the casing to produce a stereoscopic optical image. At least one of the optical imaging assemblies is moveable relative to the other. Focusing devices are synchronized with variation in depth perception to permit variation in image distance responsive to variation in depth perception.

Abstract: In an objective optical system of a stereoscopic endoscope, a pair of positive lenses are disposed downstream a pair of negative lenses for the right and left eyes at the leading end of the scope so as to respectively correspond thereto, whereby aberrations generated by the pair of negative lenses are corrected favorably. Successively from the object side, a negative lens pair 1, a positive lens pair 2, and a positive lens group 3 are disposed, whereby an incident luminous flux from the object side is caused to form an image on an imaging surface 6 of a CCD. The image-surface-side planar surfaces of the lenses L.sub.2 in the second lens pair 2 are respectively formed with stops 5 which are attached thereto or deposited thereon. Each of the lenses L.sub.1 constituting the first lens pair 1 and its corresponding lens L.sub.

Abstract: A stereoscopic imaging device is described that attaches to an instrument, such as an endoscope or a borescope, which is characterized by an exit pupil in the vicinity of its proximal region. The imaging device includes a dual aperture plate and an optical switch that are disposed within a housing that attaches to the proximal region of the instrument. The dual aperture plate defines right and left, spaced-apart apertures respectively disposed at symmetric locations substantially in the plane of the exit pupil of the instrument. The optical switch alternately blocks light received from the instrument and passing through the right and left optical channels so that a stereoscopic view can be generated.

Abstract: In a 3D video endoscope, two lenses are disposed at the front end of a shank portion at a certain squint angle providing for two separate beam paths in each of which an optical switch is disposed and the switches are so controlled that they are alternately transparent and opaque, one being transparent, while the other is opaque, and a beam deflection arrangement is disposed in the beam paths for directing the beams along a single axis into an opto-electronic camera which provides electrical output signals representing alternately the pictures generated by the two front lenses.

Abstract: A video image display is attached to a video endoscopic surgical component such as video endoscope, an endoscopic surgical instrument, a carrier for coupling the endoscope and the instrument, or a cannula through which the endoscope or the instrument is passed into a body part. Attachment is by means of an attachment mechanism which may be adjusted to enable the display position to be varied with respect to the component to which it is attached. According to another embodiment, a carrier in the form of an elongated tube is employed to combine and relate the movement of the endoscope and endosurgical instrument, which, by means of the carrier, may be jointly inserted into a body part either directly or through a cannula, enabling the surgeon to operate both the endoscope and the instrument with a single hand. A video display attached to the endoscope or carrier and positioned near the instrument actuation handle provides the surgeon with a visual perspective similar to that encountered in open surgery.

Abstract: A surgical instrument comprising a node rotatably mounted within a restraining structure at the distal end of a shaft. The node can be rotated allowing manipulation and orientation of a surgical tool extending from the node at the distal end of the shaft through control remote from the distal end of the shaft. Cameras may also be located at the distal end of the shaft allowing stereoscopic imaging to be conveyed to an operator.

Abstract: An endoscope which reduces the volume needed by the imaging part thereof, maintains resolution of a wide diameter optical system, while increasing tool access, and allows stereographic or interferometric processing for depth and perspective information/visualization. Because the endoscope decreases the volume consumed by imaging optics such allows a larger fraction of the volume to be used for non-imaging tools, which allows smaller incisions in surgical and diagnostic medical applications thus produces less trauma to the patient or allows access to smaller volumes than is possible with larger instruments. The endoscope utilizes fiber optic light pipes in an outer layer for illumination, a multi-pupil imaging system in an inner annulus, and an access channel for other tools in the center. The endoscope is amenable to implementation as a flexible scope, and thus increases the utility thereof.

Abstract: A stereoscopic imaging arrangement comprises a) an optical device (1) having an objective (2) and further lens means (3) located remotely from but in the optical path of the objective and b) a stereoscopic imaging device (4) arranged to receive light from said further lens means and form an image on a photosensitive image plane (7), the stereoscopic imaging device having shutter means (5) arranged to selectively occlude light exiting from left and right regions of said further lens means to form right and left images on said image plane and having means for combining said right and left images to form a stereoscopic representation of the field of view of said objective. The image may be displayed on a monitor (9) and viewed stereoscopically with switching spectacles (10).

Abstract: A stereoscopic image of an object is focused on an image pickup device based on the degree to which left and right images of the object are coincident on the image pickup device. Signals produced by the image pickup device that represent the left and right images are compared with each other to develop a control signal that indicates the coincidence of the left and right images on the image pickup device, and the spacing between the image pickup device and an optical element that directs the images onto the device is changed in response to the control signal to increase the coincidence. Two alternative types of comparison are performed, each of which indicates the degree of coincidence (and hence the quality of focus) of the left and right images on the image detector. In one approach, the left and right images are compared to determine their cross correlation on the image pickup device, and the spacing is changed to maximize the correlation.

Abstract: Two objective lens systems are disposed at a forward end of an elongated insertion part in spaced relation to the left and right so as to have a parallax in left- and right-hand directions. Images of an object due to respective objective lens systems are image-formed respectively onto CCDs. Image signals which are photoelectrically converted by the respective CCDs are converted into left- and right-hand image signals by a stereo-image-signal processing circuit and are displayed in time division on a monitor. The image signals are observed through left- and right-hand liquid crystal spectacles, whereby it is possible to stereoscopically view the image signals.

Abstract: An endoscopic probe for viewing difficult to reach surfaces is provided. The system utilizes a pair of image transmission elements. The first image transmission element passes a low resolution, wide field of view image of the surface to be examined to one eyepiece. The second image transmission element passes a high resolution, narrow field of view image of a portion of the same surface to a second eyepiece. Thus the viewer receives low resolution, wide field of view information in one eye and high resolution, narrow field of view information in the other eye. The overlapped, low resolution information from the wide field-of-view scene is suppressed by the brain, thus resulting in the two images being combined. The combined image contains both the low resolution, wide field-of-view information and the high resolution, narrow field-of-view information. The endoscopic probe may contain one or more illumination sources in order to provide sufficient light intensity for the imaging system.

Abstract: In a system and method for use in endoscopy and endosurgery, at least one link is pivotally connected between first and second cannulas through which first and second endoscopic devices are inserted into a body part through first and second points of entry in the surface of the body part. Angular movement of the first device about the first point of entry induces angular movement of the second device about the second point of entry. When the first and second devices are respectively an endosurgical instrument and an endoscope, the field of view of the endoscope is caused to track the moving tip of the endosurgical instrument by proper adjustment of the linkage. Thereby, a surgeon may operate an endoscopic surgical instrument while, without conscious effort, the endoscope tracks the instrument tip. According to one embodiment, coupling members are utilized to connect to cannulas of existing design.

Abstract: A stereo endoscope including a pair of objective optical systems, a pair of relay optical systems, an imagery optical system having a single optical axis, and a pair of imaging devices. The imagery optical system is a zoom optical system or a varifocal optical system. For example, an encoder is used to detect a magnitude of moving lenses in the zoom optical system. Based on the detected magnitude, a control unit allows the two imaging devices to approach or depart from each other. Thus, the stereo endoscope attains the coincidence between observation points of right and left fields of view against the displacement points of right and left object images resulting from variations of zooming magnifications.

Abstract: The invention comprises an instrument which is placed in relation to the designated object and which is capable of sending information about the object to a computer. Image processing methods are used to generated images of the object and determine positional information about it. This information can be used as input to robotic devices or can be rendered, in various ways (video graphics, speech synthesis), to a human user. Various input apparatus are attached to the transmitting or other used instruments to provide control inputs to the computer.

Abstract: A pupil division type stereoscopic endoscope includes a relay lens system, a pupil dividing stop unit, and a camera head. The relay lens system includes by an image-forming lens for forming an image of an object, and a relay lens portion for transmitting the image formed by the image-forming lens, and has one optical axis. The pupil dividing stop unit divides an object image transmitted by the relay lens system to obtain a plurality of object images which are to be subjected to stereoscopic observation. The camera head receives the plurality of object images that are formed through division by the pupil dividing stop unit and performs stereoscopic observation. The relay lens system and the pupil dividing stop unit constitute an integral optical, system yet are axially movable relative to one another. The main body of the optical lens system side and the camera head can be attached with and detached from each other.

Abstract: A stereoscopic endoscope comprises an elongate inserted section, an illuminating light system, an objective optical system at the distal end of the inserted section for forming a plurality of images having parallax between them through a plurality of incident pupils, and a common relay lens system for transmitting the plurality of images to the proximal end of the inserted section. The objective optical system includes a plurality of front lens groups and a rear lens group, wherein the plurality of front lens groups comprise two negative lens units arranged in parallel with each other and the rear lens group comprises a single positive lens group. The two negative lens units are arranged to be substantially symmetrically concentric about an optical axis of the single positive lens group and spaced to be afocal.

Abstract: A stereoscopic endoscope including an objective lens system for forming an image of an object which objective lens system is arranged at the front end of an inserting section and has a single optical axis; an image transmission device coaxially arranged with the objective lens system and adapted to transmit the image formed by the objective lens system; a pupil dividing device for dividing the image transmitted through the objective lens system and the image transmission device so as to obtain left and right images of the object; an image sensing device for picking up the left and right images obtained by the pupil dividing device; a first support structure containing at least the objective lens system; and a second support structure containing at least the pupil dividing device and the image sensing device, wherein the first and second support structures are rotatable relative to each other around an axis extending along the longitudinal dimension of the endoscope.

Abstract: An electronic endoscope apparatus has an imaging unit separable from the distal end portion of an endoscope and is capable of easily handling and operating the separated imaging unit. In the apparatus, the imaging unit having an imaging device is arranged as a separate member so that the imaging unit can be separated from the distal end portion of the endoscope, and the imaging unit is held in the accommodating pocket of the endoscope by holding means such as, for example, an electromagnet or the like. Therefore, the imaging unit is separated from the distal end portion of the endoscope by turning off the electromagnet when the endoscope is inserted into a desired position of an observing subject and can carry out picking-up operation as an imaging unit independently of the endoscope. An electric signal is transmitted between an endoscope main body and the imaging unit as a radio wave through antennas.

Abstract: An endoscope apparatus has an endoscope having an image guide (103) for guiding first and second image light components which have a parallax and can be separated from each other, a memory for storing a predetermined coefficient (a) on the basis of the shape, length, and the like of the image guide, and CCDs for converting the first and second image light components into first and second image signals (A, B). The apparatus performs image processing for generating first and second image data (L, R) by performing proportional distribution processing of the first and second image signals in accordance with the predetermined coefficient.

Abstract: The steps of selecting a hand held endoscope holder includes providing distally convergent tubular devices for receipt of the probes of respective endoscopes, securing such endoscopes in fixed relation within such holder converging distally toward one another at a predetermined angle, coupling such endoscopes through respective cameras and power sources to a multiplexer, coupling such multiplexer to a television monitor, fixing the cameras to a fixture to hold them relative to one another for viewing through three dimensional viewing glasses. The holder carrying such endoscopes is then inserted through an incision to transit the respective images of such endoscopes viewed from the respective relative angles of the endoscopes through such cameras, power source and multiplexer to the television monitor for viewing through such glasses.

Abstract: An endoscope for stereo-optically viewing an object comprises a tubular insertion portion characterized by a pair of adjacent asymmetric optical systems including a primary imaging channel and a secondary imaging channel. Associated with each channel is a solid state electronic imaging means positioned to receive the images relayed by primary and secondary image-relaying means. The optical portion of the primary channel comprises a relatively large objective lens system and a primary image-relaying means designed to provide sharply focussed first images. The optical portion of the secondary channel comprises a relatively small diameter objective lens system and a secondary image-relaying means designed to relay enough light and image information to provide an acceptable stereoscopic capability.

Abstract: A stereoscopic endoscope including an objective lens system for forming an image of an object which objective lens system is arranged at the front end of an inserting section and has a single optical axis; an image transmission device coaxially arranged with the objective lens system and adapted to transmit the image formed by the objective lens system; a pupil dividing device for dividing the image transmitted through the objective lens system and the image transmission device so as to obtain left and right images of the object; an image sensing device for picking up the left and right images obtained by the pupil dividing device; a first support structure containing-at least the objective lens system; and a second support structure containing at least the pupil dividing device and the image sensing device, wherein the first and second support structures are rotatable relative to each other around an axis extending along the longitudinal dimension of the endoscope.

Abstract: A three-dimensional vision endoscopic apparatus according to the present invention comprises a pair of optical systems for transmitting an image of a subject as two subject images having a parallax between them, a pair of imaging devices for picking up subject images transmitted by the optical systems, at least one visual field mask, a display unit for displaying the two subject images alternately or concurrently, an adjusting mechanism for adjusting the position of one or both of the imaging devices so that the display images will become consistent on the screen of the display unit, and an adjusting mechanism for adjusting the relative position of the visual field mask.

Abstract: A multiple view endoscope for providing "on command" images of a plurality of different fields of view surrounding the distal end of the endoscope without having to move the endoscope from an initially established position in order to access the different fields of view. A multiplicity of image capturing means are disposed in an array on the distal end to permit the operator to select and view either any one of, or any combination of, the multiple views provided by the multiplicity of image capturing means.

Abstract: A stereo endoscope according to the present invention includes a pair of objective optical systems, a pair of relay optical systems, an imagery optical system having a single optical axis, and a pair of imaging devices. The imagery optical system is a zoom optical system or a varifocal optical system. For example, an encoder is used to detect a magnitude of moving lenses in the zoom optical system. Based on the detected magnitude, a control unit allows the two imaging devices to approach or depart from each other. Thus, the stereo endoscope attains the coincidence between observation points of right and left fields of view against the displacements of display points of right and left object images resulting from variations of zooming magnifications.

Abstract: In accordance with one form of the present invention, a stereoscopic endoscope is provided which has an elongated thin cylindrical barrel with a pair of CCDs mounted transversely within the barrel adjacent the distal end thereof. A pair of objective optics are mounted within the barrel between the distal end thereof and the respective CCDs for focusing an image observed through the endoscope on the CCDs. Image signal transmitting wires connected to each CCD extend longitudinally through the barrel and out the proximal end thereof for transmitting an image signal to a remote location. Light transmitting fibers are tightly packed around the objective optics and the CCDs. A first connector is secured to the proximal end of the wires for connection to a stereoscopic image producing device and a second connector is secured to the proximal of the light transmitting fibers for connection to a light source.

Abstract: A method is presented for stereoscopically observing a tissue in a patient's body cavity which includes the selection of a hand held holder formed with a pair of elongated open ended tubular housings for receipt of conventional elongated monoscopic endoscopes. The housings are rigidly connected together and converge distally inwardly toward one another at a predetermined angle for receipt of the respective endoscopes so they can project from the distal end thereof for observation of the patient's tissue. The surgeon may position the endoscopes in the respective housings and affix them in position to be held angled toward one another. An incision may be made for access to the patient's chest or abdomen and the tissue to be examined manipulated away from the opening. A multiplexer device is selected and coupled with the endoscopes and a monitor selected for use with a muliplexing device to display images thereon. Three dimensional viewing glasses may be selected for use with the monitor to view the tissue site.