Abstract: A system includes a control device, a manipulator configured to support a tool having a tool frame, and at least one processor coupled to the control device and the manipulator. The at least one processor is configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method further includes determining, based on information in the one or more images, an estimated frame transform relating the image frame and the tool frame, determining, based on the estimated frame transform, an output movement for the tool in response to an input at the control device, and causing movement of the tool according to the output movement.

Abstract: Methods for protecting an input control console may include aligning a drape over the input control console. Methods may include aligning a transparent panel over a display integrated into the input control console, inserting a molding of the drape into a recess of the input control console, inserting an input control in the molding, and positioning a skirt of the drape around the input control console.

Abstract: A method and system for medical imaging employs an excitation source configured to cause an object having a plurality of cells to at least one of emit, reflect, and fluoresce light. An optical receptor is employed that is configured to receive the light from the object. A filter assembly receives the light from the optical receptor and filters the light. An image processor having a field of view (FOV) substantially greater than a diameter of a cell of the object and an analysis resolution substantially matched to the diameter of a cell of the object that receives the filtered light from the filter and analyzes the filtered light corresponding to each cell in the FOV. A feedback system is provided that is configured to provide an indication of a state of each cell in the FOV and a location of a cell in the FOV meeting a predetermined condition.

Abstract: A cable connection substrate includes: a first substrate that is provided with, on a front surface of the first substrate, a first connection electrode to be connected to a sensor electrode of an imaging element, and provided with a second connection electrode on a back surface side of the first substrate; and a second substrate that is provided with, on a front surface of the second substrate, a third connection electrode to be connected to the second connection electrode, and provided with, on a top surface side of the second substrate, the top surface being a side surface perpendicular to the front surface of the second substrate, a plurality of cable connection electrodes to be connected to a plurality of cables. A sum of effective conductor areas of the plurality of cable connection electrodes is greater than a sum of effective conductor areas of the third connection electrode.

Abstract: A handheld surgical endoscope has a disposable, single-use handle, cannula and distal tip. The distal tip includes LED illumination and an imaging module that feeds live video to a re-usable display module that connects off-axis to the disposable handle. A rechargeable battery module also attaches to the handle. The cannula includes two lumens for separate fluid in-flow and out-flow channels, as well as providing a working channel through which a surgical implement can be used. Extruded cannula and molded distal tip parts can be separately formed which aids in manufacturing and assembly. The working channel can have a substantially straight proximal access port.

Abstract: An upper gastrointestinal bleeding monitoring system includes a detection device and a signal processing device to determine bleeding condition of an upper gastrointestinal tract by using relation of time and intensity ratios of RGB three primary colors. The detecting device is placed to the upper gastrointestinal tract of a patient via his/her mouth or nasal passage and then stay the upper gastrointestinal tract for several days for detection of bleeding. The signal processing device may receive and display signal from the detection device to help medical professionals check if bleeding occurs in an upper gastrointestinal tract. Moreover, a procedure of determination of bleeding in an upper gastrointestinal tract with the upper gastrointestinal bleeding monitoring system is described.

Abstract: The utility model discloses a multi-voltage output camera kit handle which comprises a shell, a lithium battery, an intelligent control circuit, a power interface and a power switch. The lithium battery, the intelligent control circuit, the power interface and the power switch are installed on the shell; the shell comprises a lithium battery accommodating cavity and a power interface window; the lithium battery is installed in the lithium battery accommodating cavity; and the power interface is installed at the power interface window; the power interface comprises a charging interface and a discharging interface; the charging interface is used for charging the lithium battery, and the discharging interface is used for discharging different devices; the power switch is used for starting or closing the discharging for different devices; and the power interface, the lithium battery and the power switch are welded on the intelligent control circuit.

Abstract: An example power supply for supplying electrical power to an electronic device includes converters to convert an input power signal into an output power signal, and a controller. The controller is to periodically measure an input current being drawn from the input power signal, periodically determine a moving average of the input current, and periodically compare the moving average of the input current to the present input current. The controller identifies that a fault may have occurred in response to the present input current exceeding the moving average by a threshold amount. The controller shuts down supply of power to the electronic device responsive to identifying the fault.

Abstract: A image guided motion scaled surgical robotic system (160) employs a surgical robotic arm (168) and an image guided motion scaled surgical controller (162). In operation, responsive to an input signal indicative of a user defined motion of the surgical robotic arm (168) within an anatomical region, the image guided motion scaled surgical controller (162) controls an actuated motion of the surgical robotic arm (168) within the anatomical region based on a map (164) of a motion scale delineated within an imaging of the anatomical region.

Abstract: Systems, devices and methods for closing a tissue defect comprise a subcutaneous guide that is placed transcutaneously between two skin access sites and a self-locking strap that may be advanced into the body through a first access site via a first needle and then passed to a second needle. The strap may be withdrawn with the second needle through a second access site to the outside of the body. The strap may be withdrawn from the first needle, leaving the strap placed through both access sites and across the defect. As the subcutaneous guide is withdrawn from the body it pulls the captured strap such that both ends of the strap protrude from the first access site, allowing the strap to be tightened around the defect.

Abstract: The present disclosure includes vision preservation systems for medical devices, such as cryospray devices for use with endoscopes. Exemplary embodiments provide a distal attachment in the form of a shroud or cap that mounts to the end of a flexible endoscope. A purging fluid supply mechanism is provided along the length of the endoscope, providing a channel for purging fluid, such as gas, to communicate between the endoscope tip and an external gas supply. The cap or shroud assembly incorporates a lens clearing flow field adjustment mechanism, such as nozzles, designed to direct warm (room temperature or higher) purging fluid across a lens at the scope tip. Another flow deflection mechanism, such as a guide or nozzle, may be included with the cap to direct purging fluid at an angle away from the lens.

Abstract: The present invention discloses an ingestible endoscopy capsule including a permanent magnetic dipole, and an external positioning and orientation system to position and/or orientate the capsule in a target area including at least one magnet for positioning and/or orientating the endoscopy capsule within a patient, and one diagnostic imaging means.

Abstract: A suction catheter of the invention includes: a catheter main body that includes a suction passage along a longitudinal direction thereof; a control unit that is attached to an end portion of the catheter main body which is opposite to an operation portion; and an imaging unit that is attachable to and detachable from the control unit.

Abstract: A photoacoustic wave detection device includes a light projection optical system and a photoacoustic wave detection system. The light projection optical system includes: a light source that emits excitation light; an excitation light incident surface that guides the excitation light emitted from the light source to the inside by transmission; an internal reflection surface that reflects the excitation light that has entered through the excitation light incident surface by internal reflection; and a prism having positive refractive power and an excitation light emitting surface for emitting the excitation light reflected by the internal reflection surface to the outside by transmission. The photoacoustic wave detection system includes: the prism; and a transducer that detects a photoacoustic wave that has passed through the excitation light emitting surface of the prism, is reflected by the internal reflection surface, and is emitted from the prism.

Abstract: A method includes advancing an end effector of a surgical tool to a surgical site, setting a desired force vector to be assumed on the end effector during actuation of the end effector, engaging tissue at the surgical site with the end effector and calculating a force vector assumed on the end effector, and maneuvering the end effector to obtain the desired force vector.

Abstract: A capsule endoscope includes a first sensor, a second sensor, an information generator, a signal generator, and an imager. The information generator generates third instruction information on the basis of the first instruction information and the second instruction information. The first instruction information is an analysis result of first data generated by the first sensor. The second instruction information is an analysis result of second data generated by the second sensor. The signal generator generates an imaging synchronization signal on the basis of the third instruction information. The imager performs imaging on the basis of the imaging synchronization signal and acquires an image. The information generator generates the third instruction information on the basis of a combination of at least three pieces of instruction information.

Abstract: An image processing system connected to an endoscope and processing in real-time endoscopic images to identify suspicious tissues such as polyps or cancer. The system applies preprocessing tools to clean the received images and then applies in parallel a plurality of detectors both conventional detectors and models of supervised machine learning-based detectors. A post processing is also applied in order select the regions which are most probable to be suspicious among the detected regions. Frames identified as showing suspicious tissues can be marked on an output video display. Optionally, the size, type and boundaries of the suspected tissue can also be identified and marked.

Abstract: A power source apparatus and a system incorporating said power source for medical capsules are disclosed. A medical capsule often includes a power source sealed in a housing. Embodiments of the present invention allow the medical capsule to enable/disable electrical power supplied to a sub-system in the capsule device without special tools and/or skills after the medical capsule is manufactured. In one embodiment, the power source apparatus comprises a plunger responsive to a magnetic field, a spring to interact with the plunger, a battery and a control piece. The plunger is moved between first and second positions according to a magnetic field applied externally. Accordingly, the control piece enables or disables the power depending on the plunger positions. In another embodiment, a capsule system uses an electrical interconnect with pressure contacts between the power source and the capsule sub-system connecting the second circuit board to the power-output nodes.

Abstract: The present disclosure is directed to multi-segment intraluminal guide wires including an elongate distal portion comprising a first metallic material (e.g., nitinol), an elongate proximal portion comprising a second metallic material (e.g., stainless steel). The distal and proximal portions may be directly joined together end to end by a solid-state weld joint. A diameter of the weld region surrounding the weld joint on either side of the weld joint may be reduced (e.g., ground down) relative to the diameter of the distal and proximal portions of the guide wire on either side of the weld region. A stiffness adjusting sleeve may be disposed over the weld joint so that a transition profile of bending stiffness across the weld region is gradual, rather than abrupt across the distal portion of the guide wire to the proximal portion of the guide wire. A polymer jacket may cover the sleeve and distal portion.

Abstract: Systems and methods are presented for localization of a capsule based on magnetic fields. The capsule is positioned in a magnetic field generated by a first magnet and an electromagnetic coil is operated to generate a sinusoidal magnetic field with a magnetic moment orthogonal to the magnetic moment of the first magnet. An average signal measurement calculated for each magnetic field sensor is defined as the magnetic field applied to the magnetic field sensor by the first magnet and used as an offset to determine the magnetic field applied by the electromagnetic coil. The pose of the capsule is then determined based at least in part on a combination of magnetic field signals applied by the electromagnetic coil to each of the magnetic field sensors.

Abstract: Systems and methods may use an augmented reality device during a surgical procedure. The systems and methods may use an augmented reality display of an augmented reality device to present or project a virtual feature during a surgical procedure while permitting physical aspects of a surgical field to be viewed through the augmented reality display. The virtual feature may include aspects of a preoperative plan, a surgical device, an anatomical aspect of a patient, etc.

Abstract: In an image capturing unit 20, an imaging element has a 4×4-pixel area in which: pixels including at least one pixel of every color component of a plurality of color components are polarization pixels of the same polarization direction; and pixels which are not the polarization pixels constitute a majority of the 4×4-pixel area, and are non-polarization pixels. The unpolarized component calculating unit 31 of the image processing unit 30 calculates unpolarized components for each pixel and for each color component by using pixel signals of polarization pixels, and pixel signals of non-polarization pixels that are generated at the image capturing unit 20. The diffuse reflection component calculating unit 32 calculates diffuse reflection components for each pixel and for each color component by using pixel signals of polarization pixels, and pixel signals of non-polarization pixels that are generated at the image capturing unit 20.

Abstract: A light source apparatus for endoscopic imaging includes a light source for emitting at least narrow band blue light and narrow band green light, to illuminate an object in a body cavity. The light source is changeable over between field sequential lighting and simultaneous lighting. The light source, upon setting of the field sequential lighting, emits the narrow band blue light and narrow band green light in a discrete manner, and upon setting of the simultaneous lighting, simultaneously emits the narrow band blue light and narrow band green light. A connector is connectable with an endoscope having a complementary color image sensor of yellow, magenta and cyan, for imaging the object. A controller sets the field sequential lighting assuming that the endoscope is connected to the light source and assuming that the light source is used for emitting the narrow band blue light and narrow band green light.

Abstract: A method for obtaining and processing image data by using a medical visual aid system including a monitor and an endoscope configured to be inserted into a body cavity and having an image capturing device and a light emitting device, the method including illuminating a field of view of the image capturing device with the light emitting device, capturing the image data using the image capturing device, providing a non-linear scaling model adapted to the body cavity, adjusting the image data by applying the non-linear scaling model such that adjusted image data is formed, and presenting the adjusted image data on the monitor.

Abstract: A power switch configured for use in a multi-way switch system is provided. The power switch includes one or more switching elements configured to selectively couple a load to a power source. The power switch includes a power metering circuit and a communications circuit. The communications circuit can be configured to provide communications between the power switch and at least one other power switch in the switch system. The power switch can include a control device configured obtain data from the power metering circuit. The data can be indicative of power consumption of the load. The control device can be further configured to determine whether the power switch is a master power switch in the multi-way switch system based on the data.

Abstract: A robot guiding system employing an endoscope (12), a robot (11), a robot controller (21), an endoscope controller (22) and an image integration module (24). In operation, the robot controller (21) command the robot (11) to move the endoscope (12) within the anatomical region, and the endoscope controller (22) generates an endoscopic video display (15) of an intra-operative endoscopic image of the anatomical region generated by the endoscope (12). As the endoscope (12) is stationary within the anatomical region, the image integration module (24) registers a pre-operative three-dimensional image of the anatomical region to the intra-operative endoscopic image of the anatomical region. As the endoscope (12) is moving within the anatomical region subsequent to the image registration, the image integration module (24) calibrates a motion of the robot (11) relative to the endoscope (12) followed by tracking a motion of the endoscope (12) within the anatomical region.

Abstract: A filter set for simultaneously observing fluorescent and non-fluorescent object regions, and an observation system and a method in which the filter set is used are disclosed. The illumination and observation light filters of the filter set each have two separate passbands with high transmission, which are spectrally defined such that illumination light outside the emission spectrum of fluorescence can pass through the illumination and observation light filters and fluorescent light is not swamped by the illumination light. The transmission of the passbands is defined such that non-fluorescent object regions can be observed substantially with color fidelity.

Abstract: An imaging system includes an illumination portion, an imager, a reader, and an illumination controller configured to control an intensity of illumination light based on modulated illumination in a non-reading period. The modulated illumination has a first integrated light amount as a product of a variable intensity of a first pulse and an output period of the illumination light and a second integrated light amount as a product of a constant intensity of a second pulse and the output period. In the non-reading period, the illumination controller causes a predetermined light amount that is not larger than a maximum value of the first integrated light amount and is not smaller than a minimum value of the second integrated light amount to transit between the first integrated light amount and the second integrated light amount.

Abstract: Instrumentation for microendoscopic surgery comprises a retractor system including a navigated initial probe, nested retractors and a navigated final tubular retractor defining an interior passage extending between a proximal end and a distal working end. A multi-planar navigation marker including a plurality of spaced-apart, radiopaque marker bodies can be mounted to the tubular retractor at a predetermined multi-planar spatial and rotational relation to the distal working end. The retractor can optionally include systems for fluid irrigation and suction with differential activation allows for the option of maintaining a dry surgical field or a submerged surgical field depending on the surgeon's preference during various portions of the procedure.

Abstract: In an image capturing unit 20, an imaging element has a 4×4-pixel area in which: pixels including at least one pixel of every color component of a plurality of color components are polarization pixels of the same polarization direction; and pixels which are not the polarization pixels constitute a majority of the 4×4-pixel area, and are non-polarization pixels. The unpolarized component calculating unit 31 of the image processing unit 30 calculates unpolarized components for each pixel and for each color component by using pixel signals of polarization pixels, and pixel signals of non-polarization pixels that are generated at the image capturing unit 20. The diffuse reflection component calculating unit 32 calculates diffuse reflection components for each pixel and for each color component by using pixel signals of polarization pixels, and pixel signals of non-polarization pixels that are generated at the image capturing unit 20.

Abstract: An ingestible capsule device collects fluid aspirates from locations within the body, locations such as the small intestine, and retains the fluid aspirates free from contamination as the capsule device is expelled from the body. The device allows for microbial and metabolomics analysis for a variety of gastrointestinal, allergic, endocrinologic, and oncologic diseases. In some examples, the capsule device is a multi-stroke device that includes a capsule shell and two reservoirs located within the shell. Check valves work in conjunction with a vacuum pressure pumping mechanism to control fluid movement from one reservoir to another, where one of the reservoirs may be expandable and permeable to some fluids. In other examples, the capsule device employs a peristaltic pump fluid control with the capsule device, and a single semi-permeable bladder stores collected fluid aspirate.

Abstract: There are provided a vascular information acquisition device, an endoscope system, and a vascular information acquisition method that can accurately acquire vascular information on a blood vessel of a target layer that is an object to be measured of a subject. A first blood vessel extraction unit (82) analyzes the image of a target layer to be measured and extracts a blood vessel (first blood vessel) from the image of a target layer. A blood vessel specification unit (84) specifies a blood vessel (second blood vessel) extending to a non-target layer from the target layer. In a case in which the second blood vessel is specified, a second blood vessel extraction unit (83) analyzes the image of the non-target layer in which the second blood vessel is present and extracts the specified second blood vessel from the image of the non-target layer.

Abstract: A medical tracking method for tracking a spatial position of a medical instrument within a medical workspace including an anatomical structure of a patient. The method includes: acquiring, using a first camera targeted on the medical workspace, instrument position data describing a spatial position of the medical instrument with respect to a first camera; acquiring, using a second camera and at least one optical tracking marker that is adapted to be recognized by the second camera, camera position data describing a spatial position of the first camera with respect to the anatomical structure, determining, based on the instrument position data and the camera position data, tracking data describing the spatial position of the medical instrument with respect to the anatomical structure; and tracking the spatial position of the medical instrument within the medical workspace using the tracking data.

Abstract: A catheter (12) has an image sensing system (S1-S5) for imaging the interior wall of a passageway in which the catheter is to be located. The catheter has a radial imaging system comprising a light source arrangement for generating a light output radially around the catheter and an image sensor for receiving the generally radial light after the light has been scattered back by the interior wall. The catheter is positioned within the passageway with a known position and orientation, for example a known angle with respect to the anterior-posterior plane along the length of the catheter, so that it is known where along the catheter length, and at which angular position around the catheter, it is close to the passageway wall. The light output has a different intensity at different radial directions and/or the catheter comprises a light transmission arrangement which gives rise to different transmission of the light output at different radial directions.

Abstract: An image processing apparatus for an endoscope includes an image acquisition circuit configured to acquire an image captured by using the endoscope, an interference area setting circuit configured to set, on the image, an interference area having a different characteristic from an observation target in the image, and an interference area corrector configured to perform correction on the image, the correction including a reduction in luminance of the interference area. The interference area setting circuit includes an interference candidate area extractor configured to extract at least one interference candidate area based on the different characteristic from the observation target, and an interference area selector configured to select the interference area from the at least one interference candidate area based on luminance distribution in the at least one interference candidate area.

Abstract: An image selection unit selects a B2 image signal of which an image blurring amount satisfies a first condition, from a B2 image signal at a first timing T1 or B2 image signals at the second timing T2 to an N-th timing TN. A computed image signal generation unit performs computation based on a B1 image signal at the first timing T1 and a second image signal selected in the image selection unit, thereby generating a computed image signal.

Abstract: To make it possible to configure a medical support arm apparatus which does not impair operability for the surgeon, and which is also compact. Provided is a medical support arm apparatus including: an arm section configured so that a medical tool is provided on a front end, and movable axes are arranged so that the arm section has at least six degrees of freedom. Among the movable axes, a movable axis provided on the front end side that prescribes an attitude of the medical tool is a passive axis that rotates by following an external force, and at least one axis provided on a base end side that prescribes a position of the medical tool is a drive axis driven by an actuator.

Abstract: An endoscope has an elongate shaft, with a housing that is arranged in the endoscope and has a fluid-tight embodiment and a sensor for capturing a physical measurement variable, the sensor being arranged in the shaft. The sensor is situated outside of the fluid-tight housing. A signal line extends from the sensor to a coupling point at the fluid-tight housing. The coupling point connects the signal line to an evaluation unit that is arranged in an interior of the housing for the purposes of evaluating the measurement signal.

Abstract: Presented is a method and apparatus for aiding medical procedures. An apparatus includes a housing defining a first opening, a second opening, and a interior, and a first cleaning element maintained within the interior relative to the first opening, the first cleaning element comprising at least one cleaning agent operable to remove extraneous debris from an object. The apparatus further includes a second cleaning element maintained with the interior relative to the second opening, the second cleaning element comprising at least one cleaning material and at least one white reference material, the at least one cleaning material operable to remove debris from an object. The apparatus also includes a conduit defining a passage from a first end of the housing to a second end of the housing.

Abstract: A telepresence controller is provided for interaction with a remote telepresence session to control haptic interactions between an end effector and the remote telepresence session. Force sensor(s) monitor force(s) applied to an end effector. Position sensor(s) monitor a position of the end effector. The telepresence controller communicates with the remote telepresence session to exchange position data and force data indicative of concurrent haptic movements of the end effector and an object in the remote telepresence session. Magnetorheological fluid clutch apparatus(es) have an input adapted to be connected to a power source and configured to receive a degree of actuation (DOA) therefrom, the magnetorheological fluid clutch apparatus(es) having an output being actuatable to selectively transmit the received DOA to the end effector by controlled slippage.

Abstract: An endoscope apparatus includes an illuminator including: an emphasis light source that emits emphasis narrow band light whose peak or central wavelength is included in an emphasis wavelength range that includes a maximum wavelength taking a maximum value of an optical absorption spectrum of a diagnosis target substance or a largest wavelength taking a largest value of the spectrum in any of three color ranges; and a non-emphasis light source that emits non-emphasis narrow band light whose peak or central wavelength is included in a non-emphasis wavelength range that is a wavelength range not including the emphasis wavelength range of the color ranges. The illuminator further includes a light quantity ratio changing section that changes a light quantity ratio between the emphasis and non-emphasis narrow band light.

Abstract: A visualization module (1, 50, 100, 200), in particular for an endoscope (2), having an image sensor (3) and an illumination unit (4) for lighting a field of view of the image sensor (3), wherein the illumination unit (4) is arranged in the shadow of the image sensor (3) in the case of light that is incident perpendicularly on an end face (32) of the visualization module (1, 50, 100, 200), and the image sensor (3) and the illumination unit (4) are encapsulated at least partially in a transparent encapsulation material (5). A method for producing a visualization module (1, 50, 100, 200) is also provided.

Abstract: Described is a method of providing an augmented reality (AR) scene of pipe inspection data, including: obtaining, using a processor, pipe inspection data derived from a pipe inspection robot that traverses through the interior of an underground pipe, the pipe inspection data including one or more sets of condition assessment data relating to an interior of the underground pipe; obtaining, using a processor, real-time visual image data of an above-ground surface; combining, using a processor, the pipe inspection data with the real-time visual image data in an AR scene; and displaying, using a display device, the AR scene. Other examples are described and claimed.

Abstract: An electronic device includes a housing including a first surface, a display exposed through a first portion of the first surface, a first light emitting source exposed through a second portion of the first surface, an imaging sensor circuit that is exposed through a third portion of the first surface and is electrically connected with the first light emitting source, and a processor that is disposed in the housing and is electrically connected with the imaging sensor circuit. In addition, various embodiments recognized through the specification are possible.

Abstract: Disclosed is an endoscope device. An endoscope device according to an embodiment of the present invention includes: a heating source that heats a diagnosis target tissue; a cooling source that cools the diagnosis target tissue; a sensing unit that measures temperature of the diagnosis target tissue; and an image processing unit that obtains a first value meaning a temperature change for a predetermined time of the diagnosis target tissue heated by the heating source on the basis of the temperature obtained by the sensing unit, obtains a second value meaning time until the heated diagnosis target tissue is stabilized by being cooled by the cooling source after obtaining the first value, and produces an image for diagnose a tumor in the diagnosis target tissue on the basis of the first value and the second value.

Abstract: An endoscope system includes an endoscope, a display device, and a cable interconnecting the endoscope and the display device. The endoscope includes an elongated body extending distally from a handle. An image sensor is disposed within a distal portion of the elongated body, a lens is disposed at a distal end of the elongated body, and a light source including one or more light emitting elements is integrated into the distal end of the elongated body and positioned radially outward of the lens. An integrated processor is disposed within the handle.

Abstract: An optical system includes: a first optical element; a first movable frame; a holding frame; a voice coil motor; a first position detection unit configured to detect information related to a position of the first movable frame with respect to the holding frame and generate a first position signal; a determination unit configured to determine whether the first position signal is normal; and a drive control unit configured to perform, when the determination unit determines that the first position signal is normal, first drive control for driving the first movable frame by controlling, based on the first position signal, a current allowed to flow in the coil or configured to perform, when the determination unit determines that the first position signal is not normal, second drive control for driving the first movable frame by flowing a current with a predetermined value in the coil.

Abstract: A robot guiding system employing a robot unit (10) including an endoscope (12) and a robot (11), and a control unit (20) including an endoscopic image controller (22) and a robot controller (21). In operation, the endoscope (12) generate an endoscopic image of an anatomical region as the robot (11) move the endoscope (12) within the anatomical region in response to robot actuator commands. The endoscopic image controller (22) controls a display of the endoscopic image (14) of the anatomical region and generates endoscope pose commands to maintain a visibility of two or more interventional instruments within the display of the endoscopic image (14) relative to a center of the endoscopic image (14). The robot controller (21) generates the robotic actuator commands responsive to the endoscope pose commands.

Abstract: It is an object of the present invention to provide an image processing apparatus, an endoscope system, an image processing method, an image processing program, and a recording medium capable of accurately estimating blood vessel information. An image processing apparatus according to an aspect of the present invention includes: an image acquisition unit that acquires an image of a living body; a blood vessel index value calculation unit that calculates a blood vessel index value of the living body from the acquired image; a blood vessel density calculation unit that calculates a blood vessel density of the living body from the acquired image; a blood vessel index value correction unit that corrects the calculated blood vessel index value according to the calculated blood vessel density; and a blood vessel information estimation unit that estimates blood vessel information of the living body based on the corrected blood vessel index value.

Abstract: An LED-type distal end optical adapter includes a three-dimensional molded substrate including a through hole and provided with a mounting surface and wall surface parts provided so as to project from the mounting surface, an adapter frame member including a small diameter hole in which an outer circumferential surface of the first wall surface part of the three-dimensional molded substrate is disposed and forming a first adhesive filling space, and a lens holding frame disposed in a through hole and forming a second adhesive filling space.