Abstract: An optical system for stereoscopic rigid endoscope is provided with first and second objective optical systems arranged to have a predetermined clearance therebetween and an optical path combining system that polarizes light passed through the first and second objective optical systems in directions perpendicular to each other. The optical path combining system parallelly shifts the optical axes of the first and second objective optical systems so that they coincide with each other. The shifting directions of the optical axes form an angle less than 90 degrees. A relaying optical system is provided inside the insertion unit of the endoscope. An optical axis of the relaying optical system is coaxial with the combined optical axes. An optical image separating system separates the light passed through the relaying optical system into first and second components that passed through the first and second objective optical systems and polarized by the optical path combining system, respectively.

Abstract: A capsule endoscope capable of implementing stereoscopic photography, with which protruding/recessed states are easily recognized, for a nearby subject. The capsule endoscope includes imaging devices for respectively imaging a common subject, a driving/sampling section which drives the imaging devices, focusing optical systems which correspond one-to-one with the imaging devices and focus subject images onto imaging regions of the corresponding imaging devices, and a control section which controls imaging operations of the imaging devices with the driving/sampling section. At least one of the focusing optical systems is inclined such that an optical axis direction thereof is oriented forward in a direction of imaging by the plurality of imaging devices and toward a perpendicular direction that passes through a central point between the imaging regions of the plurality of imaging devices.

Abstract: An endoscope has an inserting tube to be inserted into a human body, first and second optical systems integrally secured to a tip end portion of the inserting tube. The first and second optical systems are for observing the in vivo tissues at different magnifications. A front end portion of the second optical system is protruded by a predetermined amount with respect to a front end portion of the first optical system so that the front end portion of said second optical system is located within a field of view of said second optical system.

Abstract: An endoscope having restricted dimensions and comprising at least one image gatherer, at least one image distorter and at least one image sensor shaped to fit within said limited dimensions, and wherein said image distorter is operable to distort an image received from said image gatherer so that the image is sensible at said shaped image sensor.

Abstract: Stereoscopic device including at least two apertures, each including a light valve, a multi wavelength light sensor array and a controllable multi wavelength illumination unit, producing at least two alternating beams of light, each of the beams of light is characterized as being in a different range of wavelengths, wherein each light valve is operative to open at a different predetermined timing and wherein the multi wavelength light sensor array detects a plurality of images, each of the images corresponding to a predetermined combination of an open state of a selected one of the light valves and a selected one of the modes.

Abstract: System for producing a stereoscopic image of an object, and displaying the stereoscopic image, the system including a capsule and a control unit, the capsule including a sensor assembly, a processor connected to the sensor assembly, a capsule transceiver connected to the processor, a light source, and a power supply for supplying electrical power to the capsule transceiver, the processor, the light source and to the sensor assembly, the control unit including a control unit transceiver, and an image processing system connected to the control unit transceiver, wherein, the sensor assembly detects the stereoscopic image, the processor captures the stereoscopic image, the capsule transceiver transmits the stereoscopic image to the control unit transceiver and the image processing system processes the stereoscopic image.

Abstract: An endoscopic visualization apparatus has a first imaging system and at least one second imaging system, a first image field being covered by the first imaging system, and a second image field being covered by the second imaging system. The first imaging system and the second imaging system are arranged in a common housing. The first imaging system and the second imaging system are significantly different with regard to at least one optical parameter, and the first image field and the at least one second image field overlap one another only partially.

Abstract: An optical observation device for observing 3-D images of an endoscope is disclosed. The optical observation device includes: an image input means having a rod-shaped front part with a sufficiently small diameter for insertion within a living human being, the rod-shaped front part containing a front optical system for capturing images having parallax in a direction that includes a component in the longitudinal direction of the rod-shaped front part; a means for detecting at least one of the parallax direction or parallax magnitude of the front optical system; an image conversion means for changing at least one of the parallax direction or parallax magnitude of images received from the image input means so as to form converted images; and a 3-D image observation means for enabling the 3-D observation of the converted images.

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 pupils of the two objective lens systems arranged in parallel within the distal end section of the inserted section and their images are formed on the focal surface. The respective images are transmitted to the rear side by one common relay lens system. 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: An imaging device assembly for an electronic stereoscopic endoscope system comprises right and left solid state image pick-up modules set out side by side and right and left circuit boards with circuits formed thereon, respectively, that are connected to the right and left image pick-up modules, respectively. Each circuit board comprises a front section having a width approximately equal to a width of the solid state image pick-up module and a rear section broader than the front board section which is shaped to project laterally so as to overhang a rear section of the other circuit board and on which electronic parts incorporated in the circuit are mounted.

Abstract: A processing unit includes an estimating unit for estimating three-dimensional coordinates at an arbitrary point on an observation image and obtaining the estimation result and the reliability of the estimation result. A concave and convex datum line setting unit estimates the reliability of a point on the cut-off datum line or on an extending line of the cut-off datum line based on the reliability of the estimation result of the estimating unit, extracts only a point whose reliability is high and setting both new ends, and sets a concave and convex datum line as a predetermined datum based on both the new ends. The concave and convex datum line setting unit sets a concave and convex datum line as a predetermined datum for processing the cross-section information to create concave and convex information indicating a relative concave and convex state with respect to the predetermined datum based on both the set new ends.

Abstract: An optical system pair for a stereo endoscope is described which enables adjustment of magnification matching in the production phase with low cost and small size for the resulting stereo endoscope products. The stereo optical systempair for stereo endoscope system includes a right optical system and a left optical system, wherein one of the right and left optical systems includes a lens group which has a refractive power, and which is designed to be moveable axially with a moveable range and has a position within the moveable range at which optical magnification equals to ?1. Also described are optical arrangements of a stereo endoscope incorporating the stereo optical system pair.

Abstract: An arrangement for generating a stereoscopic image of an object for viewing by an observer includes an imaging optic for imaging the object and defining an imaging beam path as well as an entry pupil and an exit pupil. Illuminating optics illuminate the object by providing an imaging beam coming from the object and passing through the imaging optic and along the imaging beam path. The imaging beam is sectioned in the imaging beam path into two component beams at one of the following locations: in the exit pupil, near the exit pupil or at a position along the imaging beam path which is optically conjugated to the exit pupil, thereby forming stereoscopic sectioned images. The stereoscopic section images are allocated in a clocked manner to the left and the right eyes of the observer. The invention is also directed to a method of generating a stereoscopic image of the object.

Abstract: An endoscope apparatus having an insertion part which includes an object optical system in order to conduct measurements or stereoscopic-vision observations, using the object optical system with a moderate parallax, a moderate size of an image can be provided without making an endoscope thick in diameter.

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. The surgical instrument is well suited for administering biologically active substances to a desired location. The method of administration comprises insertion of a flexible shaft comprising a channel, controlling the location of the distal end of the shaft through control cables within the shaft, and projecting the biologically active substance from the end of the channel at the desired location.

Abstract: A stereoscopic observation system includes a stereoscopic optical unit and stereoscopic camera. The optical unit is provided with a pair of objectives for stereoscopic observation and optical devices corresponding to the respective objectives. The stereoscopic camera is connected to the stereoscopic optical unit and used to pick up optical images formed by the optical devices. At least one of the stereoscopic camera and the optical unit serves as an instrument to be supported. A support unit supports the instrument. A rotation mechanism is incorporated in the support unit, and has a rotary shaft substantially parallel to an optical axis of the objectives. The rotation mechanism supports the instrument such that the instrument can rotate about the axis of the rotary shaft.

Abstract: Methods and devices for inspecting and calibrating a stereoscopic imaging device, such as a binocular endoscope. In one exemplary embodiment, the method of the present invention measures a fringe pattern from light emitted through two channels of the device. An angle of each of the fringe pattern can be measured so as to allow a diopter difference between the channels to be calculated.

Abstract: A surgical operation assistance system picks up an image of a surgical filed with using an image pick-up device. And, an image produce unit produces a stereographic image of the surgical filed, the image of which is picked up. Reference points of a surgical operation route are inputted upon basis of a kind of the surgical operation and the stereographic image. A surgical operation route calculate unit calculates out a smooth surgical operation route upon basis of the kind of the surgical operation and the reference points inputted, to be displayed on an image displaying apparatus.

Abstract: A stereo laparoscope for producing a stereoscopic optical image of an intracorporeal region to be viewed through a small incision. The stereo laparoscope included multiple imaging assemblies disposed in a direction non-parallel to the axis of the laparoscope. The imaging assemblies are disposed in a fixed orientation relative. Selection and processing means are included for enabling the user to select a left imaging assembly and a right imaging assembly from three or more imaging assemblies. The left and right views provide three dimensional or stereoscopic viewing, and the distance between at least two assemblies can be greater than the diameter of the laparoscope.

Abstract: A stereoscopic image pickup system for obtaining parallactic images of an object, the stereoscopic image pickup system includes a pair of, first and second, reflecting members each having a reflecting function, a pair of, first and second, amount-of-light control members arranged to respectively vary amounts of transmission of light fluxes coming from the first and second reflecting members alternately in a time-series manner, an optical member arranged to superpose an optical axis of a light flux having passed through the first reflecting member and the first amount-of-light control member and an optical axis of a light flux having passed through the second reflecting member and the second amount-of-light control member on one and the same optical axis, an image sensor for converting a light flux coming from the optical member into an electrical signal, and a controller for causing, on the basis of information on a distance to the object, an image taking-in area of the image sensor to differ between a first

Abstract: This invention relates to a stereo imaging system for use in telerobotic systems. A method of imaging a target site in a stereo imaging system is provided. The method typically includes capturing a right and a left optical image of the target site and transforming the right and the left optical images preferably into digital information. The method further includes converting the digital information into opposed images of the target site displayed on a stereo display of the stereo imaging system, one of the opposed images being associated with the right optical image and the other of the opposed images being associated with the left optical image. The method further includes regulating the digital information to cause the positions of the target site displayed on the opposed images to change relative to each other.

Abstract: Stereoscopic device including a lenticular lens layer and light sensor array, the lenticular lens layer includes a plurality of lenticular elements, the sight sensor array includes a plurality of light sensors, wherein selected ones of the light sensors detect light at a predetermined range of wavelengths and wherein at least selected others of the light sensors detect light at at least another predetermined range of wavelengths and wherein each of the lenticular elements is located in front of a selected group of the light sensors, thereby directing light from different directions to different light sensors within the selected group of the light sensors.

Abstract: An endoscope apparatus has an object optical system to conduct measurements or stereoscopic-vision observations. The object optical system arranges in order from an object side to an image side, a first unit, a second unit, a third unit, and an image pickup unit. The first unit includes negative lenses, the second unit includes first positive lenses, wherein the first positive lenses form no real image within the second and third units. The third unit includes second positive lenses, and the image pickup unit includes a single image pick up device.

Abstract: Light is divided into transmitted light and reflected light by a half mirror 3. The transmitted light is photographed by a first imaging system and the reflected light is photographed by a second imaging system. In this case, a very-small binocular parallax is realized by parallax producing means 7S and 7K.

Abstract: An electronic endoscope includes an illumination guide and a pair of right and left image pickup devices each comprising an objective lens system and a solid state image sensor that are all incorporated in an elongated cylindrical rigid sheath and operates to produce right and left optical images of an object which are displayed on a monitor as a three-dimensional image and is provided with a mounting fixture which has a pair of mounting bores formed side by side therein for holding the right and left solid state image pickup device in the mounting bores, respectively, so as thereby to align the right and left solid state image pickup devices side by side in a diametrical direction of the sheath and is shaped so as to provide an arched space between the mounting fixture and the sheath for receiving the illumination guide therein when it is fitted in the sheath.

Abstract: A stereo laparoscope for producing a stereoscopic optical image of an intracorporeal region to be viewed through a small incision. The stereo laparoscope included multiple imaging assemblies disposed in a direction non-parallel to the axis of the laparoscope. The imaging assemblies are disposed in a fixed orientation relative. Selection and processing means are included for enabling the user to select a left imaging assembly and a right imaging assembly from three or more imaging assemblies. The left and right views provide three dimensional or stereoscopic viewing, and the distance between at least two assemblies can be greater than the diameter of the laparoscope.

Abstract: A stereo endoscope having right and left optical systems for stereoscopic observation which form the right and left images, respectively. The stereo endoscope further including a third optical system which has a wider field of view and a smaller maximum lens diameter than the right and left optical systems.

Abstract: A stereoscopic endoscope system includes a combined system of a stereoscopic endoscope unit and a camera unit. The stereoscopic endoscope unit has an insertion part and an observation part. The insertion part includes an objective lens and a relay lens in order from an object side, where the objective lens has a pair of first optical system and a second optical system which are arranged in parallel in an insertion direction, and a third optical system arranged in the insertion direction. The first optical system and the second optical system are for a stereoscopic vision observation, and the optical system has a viewing angle larger than that of the first and the second optical systems for observing a wider range than a that of the stereoscopic vision observation. The relay lens is arranged on the camera unit side of the objective lens.

Abstract: An optical observation device for observing 3-D images of an endoscope is disclosed. The optical observation device includes: an image input means having a rod-shaped front part with a sufficiently small diameter for insertion within a living human being, the rod-shaped front part containing a front optical system for capturing images having parallax in a direction that includes a component in the longitudinal direction of the rod-shaped front part; a means for detecting at least one of the parallax direction or parallax magnitude of the front optical system; an image conversion means for changing at least one of the parallax direction or parallax magnitude of images received from the image input means so as to form converted images; and a 3-D image observation means for enabling the 3-D observation of the converted images.

Abstract: A stereoscopic image acquisition and display system and associated method, suitable for effective eye-hand co-ordination during videoscopic surgery, is provided. The problems of previous three-dimensional acquisition and display systems are addressed by ensuring that the convergence angle for image acquisition lies within the range of 3 to 16 degrees and that the observer's visual convergence is set within similar limits. Simultaneous display of left and right eye images avoids the problems of field sequential displays. By providing the observer with a displayed image which is sufficiently bright and ensuring that the binocular disparity between corresponding points in the left and right eye images is correct, the system allows the observer to fuse a pair of stereo-images, without causing conflict between visual accommodation and convergence. The location of the displayed image may be adjusted.

Abstract: A stereoscopic video image is observed by displaying to left and right display devices arranged in front of the left and right eyes of an observer, left and right images formed on an image pick-up device by using a stereoscopic optical system. Then, a read address of image data stored in a memory is changed by operating a display position adjusting pick or the like, thereby simply variably adjusting the display positions of the left and right images. As a consequence, it is possible to respond to the case in which a parallax of the observer is varied.

Abstract: A 3-D viewing system is disclosed that enables multiple operators to share a common objective element while readily adjusting the orientation of images that are displayed to one or more moveable display units. The orientation of images that are displayed at a movable display unit can be made to automatically depend on the position/orientation of the display unit. Thus greater freedom in viewing postures is provided than previously available in 3-D viewing systems that share a common objective element, and each operator may view a 3-D image with proper perspective for his position/orientation. In order to reduce the number of optical components, the need to adjust optical components, and reduce costs, images from at least two different optical perspectives may be time-division multiplexed onto a single optical detecting device.

Abstract: A stereoscopic endoscope includes a primary optical system for transmitting a luminous flux, reflected by an object located near a first end of the optical system, to a second end of the optical system. A first image forming system forms a first image of the object in accordance with a first area of the luminous flux, and a second image forming system forms a second image of the object in accordance with a second area of the luminous flux, the second area not overlapping the first area. An imaging device detects the first image and the second image, the image detecting system outputting an image signal.

Abstract: A real-time structured light depth extraction system includes a projector for projecting structured light patterns onto an object of interest. A camera positioned off-axis from the projector samples light reflected from the object synchronously with the projection of structured light patterns and outputs digital signals indicative of the reflected light. An image processor/controller receives the digital signals from the camera and processes the digital signals to extract depth information of the object in real time.

Abstract: An endoscope apparatus has an object optical system to conduct measurements or stereoscopic-vision observations. The object optical system arranges in order from an object side to an image side, a first unit, a second unit, a third unit, and an image pickup unit. The first unit includes a negative lenses, the second unit includes a first positive lenses, wherein the first positive lenses forms no real image within the second and third units. The third unit includes a second positive lenses, and the image pickup unit includes a single image pick up device.

Abstract: A rigid endoscope optical system which can obtain both a wide angle image for finding an organ and a high resolution image used for a precise treatment. The rigid endoscope optical system has objective optical systems for stereoscopic observation which forms right and left images. The rigid endoscope optical system also has a secondary objective optical system which has a field of view different from the objective optical system for stereoscopic observation, and one relay optical system which transmits the images of the objective optical system for stereoscopic observation and the secondary objective optical system.

Abstract: An endoscope having an endoscope shaft at the distal end of which a solid state image-recording system is disposed which is designed in the manner of lateral-view optics. The image-recording system has at least two image recorders, built in a distal region of the endoscope shaft in such a manner that the viewing directon of the solid state image-recording system being approximately parallel to the axis of a proximal part of the endoscope shaft in one position and being perpendicular to it in another position automatically assumed by the distal region.

Abstract: A system for medical ultrasound in which the ultrasound probe is positioned by a robot arm under the shared control of the ultrasound operator and the computer is proposed. The system comprises a robot arm design suitable for diagnostic ultrasound, a passive or active hand-controller, and a computer system to co-ordinate the motion and forces of the robot and hand-controller as a function of operator input, sensed parameters and ultrasound images.

Abstract: An optical system is provided with a pair of forward optical components each having a shutter for controlling the amount of transmission of a light from an object, an optical member for laying the optical axes of the pair of forward optical components one upon the other, and a rearward optical component disposed so that the optical axis thereof may coincide with the optical axes laid one upon the other. The optical system alternately varies the amounts of transmission of the light transmitted through the shutters of the pair of forward optical components to thereby time-serially form a parallax image.

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 pupils of the two objective lens systems arranged in parallel within the distal end section of the inserted section and their images are formed on the focal surface. The respective images are transmitted to the rear side by one common relay lens system. 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: An electronic endoscope comprises a housing and a flexible tube. A light-transmitting optic fiber and a light-receiving optic fiber are provided in the flexible tube. A light source and an imaging device are provided in the housing. The light source outputs a pulsed distance-measuring light beam, which is transmitted along the light-transmitting optic fiber, and irradiated to a subject. A reflected light beam generated by the subject due to the distance-measuring light beam is transmitted along the light-receiving optic fiber, to enter the imaging device, in which an electric charge corresponding to the subject image (i.e., an image signal of a three-dimensional image) is accumulated. A timing of the accumulating operation of the imaging device is delayed depending on the lengths of the fibers.

Abstract: A field conversion system for rigid endoscopes has a rigid endoscope inserted into an object to form an optical image of the object and an imaging device connected to the rigid endoscope. The imaging device includes an imaging optical system for changing the magnification of the optical image to form a resultant image and an image sensor placed at the position of an imaging plane produced by the imaging optical system. A part or a whole of the imaging optical system or the image sensor is moved in a direction perpendicular to an optical system, thereby carrying out a field conversion. The field conversion system is provided with a time-division shutter mechanism placed close to a pupil position inside the imaging optical system so that two light beams at different positions in a pupil are switched time-dividedly and transmitted and the image sensor picks up time-dividedly left and right images with parallax.

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 L2 in the second lens pair 2 are respectively formed with stops 5 which are attached thereto or deposited thereon.

Abstract: An optical adaptor for an endoscope enabling an optically highly precise arrangement consists of a first frame member, a second frame member, and a distance restriction member. The first frame member is located at the distal part of the optical adaptor. A plurality of objective optical systems is stowed and held in the first frame member. The second frame member is located behind the plurality of objective optical systems. A relay optical system that transmits optical images formed by the objective optical systems and teams with an imaging optical system located in front of an imaging device in an endoscope to form an image transmission optical system is stowed and held in the second frame member. The distance restriction member is interposed between the first frame member and second frame member and thus sets the distance between the members to a predetermined value.

Abstract: A stereoscopic endoscope system includes a combined system of a stereoscopic endoscope unit and a camera unit. The stereoscopic endoscope unit has an insertion part and an observation part. The insertion part includes an objective lens and a relay lens in order from an object side, where the objective lens has a pair of first optical system and a second optical system which are arranged in parallel in an insertion direction, and a third optical system arranged in the insertion direction. The first optical system and the second optical system are for a stereoscopic vision observation, and the optical system has a viewing angle larger than that of the first and the second optical systems for observing a wider range than a that of the stereoscopic vision observation. The relay lens is arranged on the camera unit side of the objective lens.

Abstract: An image processing system displaying an endoscopic image of a three-dimensional object from a desired viewpoint position and view direction. A three-dimensional model preparation unit prepares a three-dimensional model of the object and an endoscopic image preparation unit prepares a first image of the three-dimensional model as viewed from the viewpoint position and view direction. A simulated endoscopic examination of a virtual subject can be realized by permitting an operator to change the viewpoint position and view direction to coincide with the movement of a virtual endoscope. The usefulness of the virtual endoscope is enhanced with various features of the invention which facilitate control over the virtual endoscope and make the virtual images useful in the insertion of a real endoscope.

Abstract: Disclosed is an endoscope having an endoscope shaft at the distal end of which a solid state image-recording system is disposed which is designed in the manner of lateral-view optics.

Abstract: An adapter uses a monocular endoscope with a stereoscopic observing portion. The observing portion includes a system that divides light transmitted by the monocular endoscope into two light beams, and a pair of optical systems, each of the optical systems receiving one of the light beams and forming an image of the object. The images formed by each of the optical systems forming a stereoscopic image of the object, the adapter comprising a system that connects the observing portion to the monocular endoscope.

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: 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.