Abstract: A video processor receives first and second images respectively acquired by an endoscope at first and second timings before and after a predetermined function is applied to a subject, generates first and second correction images respectively using first and second images, generates first and second post-correction images respectively obtained by causing the first and second correction images to act on the first and second images, extracts color components in the second post-correction image to find first and second distribution characteristic values, and calculates a degree of change of the second distribution characteristic value from the first distribution characteristic value.

Abstract: The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool-located references features. In some embodiments, a medical system includes a tool having a distal end that is insertable into a patient body, an image capture device insertable into the patient body so that the image capture device captures an image of at least a portion of a two-dimensional marker at least partially surrounding a portion of the tool, and a processor coupled to the image capture device and configured to determine a pose of the tool by processing the image.

Abstract: Featured is a medical instrument driver, a robotic apparatus embodying such a medical instrument driver and methods related thereto for inserting a medical instrument into tissue of a mammal (e.g., human). Such medical instruments include medical needles, biopsy needles, trocars, cutters and introducers. Such a medical instrument driver according to the present invention is configured and arranged so that medical instrument is rotated as it is being moved longitudinally for insertion into the tissue such that the medical instrument is spiraling as it pierces and traverses the tissue to the target area.

Abstract: An endoscopic system includes a mechanical arm, an endoscope and a control unit. The endoscope is held by the mechanical arm, and is configured to capture an image. The control unit is electrically connected to the mechanical arm and the endoscope, and is configured to receive and process the image captured by the endoscope, to determine whether the image has at least two specific instruments that are arranged in a specific configuration, and to drive the mechanical arm to move the endoscope when the determination is affirmative.

Abstract: A system and method of aligning with a reference target includes a computer-assisted device. The computer-assisted device includes a link, one or more first joints coupled proximally to the link, an articulated arm comprising one or more second joints coupled distally to the link, the articulated arm configured to couple to an instrument, and a control unit. The control unit is configured to position or orient the link, using the one or more first joints, based on at least one reference of the instrument selected from the group consisting of a reference point associated with the instrument and a reference orientation of the instrument. The control unit is further configured to maintain, while positioning or orienting the link and by using the one or more second joints, a position or an orientation of the instrument relative to a workspace in accordance with the at least one reference of the instrument.

Abstract: A light source illumination unit has operation modes including at least a normal electric power mode to operate with first electric power consumption, and a low electric power mode to operate with second electric power consumption lower than the first electric power consumption. A controller selects at least one of the operation modes in accordance with the current usage, and controls the light source illumination unit in accordance with the selected operation mode.

Abstract: A controller which controls an operation of a self-propelled mechanism of an endoscope includes an inspection control section, a usual control section, an endoscope connection detection circuit and a control switch section. The endoscope connection detection circuit detects that the endoscope has been connected. The control switch section determines whether or not the inspection operation is performed for the endoscope at the time of the connection of the endoscope, causes the usual control section to perform the usual operation when the inspection operation is performed, and causes the inspection control section to perform the inspection operation and then causes the usual control section to perform the usual operation when the inspection operation is not performed.

Abstract: A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.

Abstract: Provided is an endoscope system that maintains the hue of an endoscopic image even in a case where a wavelength shift occurs in light for observation. An endoscope system includes a light source unit including at least one first light source that emits light including two color components with mutually different wavelengths; an image sensor having at least a first element part that has a spectral sensitivity for a first color component and a second element part that has a spectral sensitivity for the second color component out of the two color components of the first light source; and a processor that images an observation object using the light emitted from the at least one first light source of the light source unit and obtains a first signal value of the first color component obtained in the first element part of the image sensor, and a second signal value of the second color component obtained in the second element part.

Abstract: A signal processing apparatus 6 includes a mode selection unit 6124 that selects any operational mode from among a plurality of operational modes that include a regular operational mode in which a video signal for display is output, and are hierarchically organized in a tree form, the mode selection unit 6124 causing the signal processing apparatus 6 to operate in the selected operational mode. The operational modes include a plurality of lower-level operational modes as lower-level operational modes having a parent-child relation with the regular operational mode. The mode selection unit 6124, after the signal processing apparatus 6 has started up, selects any operational mode from among same-level operational modes for each level from an upper level toward a lower level and, when having selected any of the lower-level operational modes, can select an upper-level operational mode relative to the selected lower-level operational mode on condition that the signal processing apparatus 6 has again started up.

Abstract: An endoscope includes an imaging unit configured to image a subject and output image data, a moving-image generation unit configured to generate moving-image data from the image data output from the imaging unit, a still-image generation unit configured to generate still-image data from the image data output from the imaging unit, a release instruction unit configured to receive an image-recording instruction from a user, a first wireless communication unit configured to sequentially change a wireless channel to transmit test data and transmit the still-image data to the reception device when the release instruction unit receives the image-recording instruction, a second wireless communication unit configured to transmit the moving-image data to the reception device using a wireless channel different from the wireless channel currently used by the first wireless communication unit, and a first setting unit configured to set a wireless channel determined from communication quality information.

Abstract: A light source illumination unit has operation modes including at least a normal electric power mode to operate with first electric power consumption, and a low electric power mode to operate with second electric power consumption lower than the first electric power consumption. A controller selects at least one of the operation modes in accordance with a use schedule, and controls the light source illumination unit in accordance with the selected operation mode.

Abstract: The present invention discloses a system to control a movement of a magnetic capsule using an external magnet control system. The external magnet control system includes more than one external magnetic balls, and at least one external magnetic ball can be moved freely in five degrees of the freedom.

Abstract: Methods and apparatuses for sensing biological functions are disclosed. Sensors can be implanted in an organ, such as the brain, and a magnetic field gradient applied to the biological tissue. The field causes the sensors to have different resonant frequencies allowing their spatial localization. The sensors can harvest power from the external coils to be able to retransmit data.

Abstract: A method for use with a balloon catheter device that includes a selectively bendable portion with a balloon disposed thereon, a control device for controlling bending of the selectively bendable portion, and a camera located at an end of a distal portion, includes inserting the distal portion into the nostril while the distal portion is straight; viewing an image provided by the camera; stopping insertion of the distal portion after the ethmoidal bulla is viewed in the image; articulating the distal portion in an upward direction to view the opening to the frontal sinus ostium or a downward direction to view the opening to the maxillary sinus ostium using the control device; inserting the distal portion into the frontal sinus ostium or the maxillary sinus ostium while the distal portion remains in the bent position; and inflating the balloon in the frontal sinus ostium or the maxillary sinus ostium.

Abstract: A camera system for monitoring the inside of a body, which is easily used and can be installed during a short period of time, is suggested. A drawing auxiliary tool (7) having a wire structure guides a camera unit (11) and a camera side cable (12) in which one end part is connected to the camera unit (11) from the outside of the body toward the inside of the body via a first hole provided on a body wall, and draws out the other end part of the camera side cable (12) from the inside of the body toward the outside of the body via a second hole provided on the body wall.

Abstract: Described are systems, methods, and computer readable medium for dynamic power usage and data transfer rate management in a sensor network including synchronous and asynchronous links. Exemplary embodiments provide a lightweight communication protocol enabling dynamic management of data buffer size in a sensor network and corresponding control of power usage and data transfer rates in the sensor network.

Abstract: A surgical fluid manager includes a pump releasably engageable to tubing and a user interface. The user interface is configured to enable finger-touch selection of a fluid flow rate through the tubing and configured to operate in at least one of a first mode or a second mode. In the first mode, the flow rate is controlled via direct selection of one of a plurality of selectable digital numeric values, while in the second mode the flow rate is controlled via user selection of one alphanumeric identifier within a scale of alphanumeric identifiers. Each respective alphanumeric identifier directly corresponds to just one instrument size within a scale of instrument sizes.

Abstract: An insertion apparatus includes an insertion section, a rotational housing, a motor, and a controller. The motor rotates the rotational housing. The controller designates a rotational direction of the motor. The controller limits the rotational direction of the motor to allow the insertion section to move only in a removal direction when inspection control for inspecting an operation relative to an insertion direction of the insertion section is initiated.

Abstract: A surgical robotic system automatically calibrates tubular and flexible surgical tools such as endoscopes. By accounting for nonlinear behavior of an endoscope, the surgical robotic system can accurately model motions of the endoscope and navigate the endoscope while performing a surgical procedure on a patient. The surgical robotic system models the nonlinearities using sets of calibration parameters determined based on images captured by an image sensor of the endoscope. Calibration parameters can describe translational or rotational movements of the endoscope in one or more axis, e.g., pitch and yaw, as well as a slope, hysteresis, or dead zone value corresponding to the endoscope's motion. The endoscope can include tubular components referred to as a sheath and leader. An instrument device manipulator of the surgical robotic system actuates pull wires coupled to the sheath or the leader, which causes the endoscope to articulate.

Abstract: An endoscope system is provided by which observation image brightness can be suppressed from irregularly fluctuating before and after changing of an observation mode and observer's discomfort feeling can be reduced. The endoscope system includes an imaging element, an image processing section that generates an observation image from an imaging signal, a display section that displays the observation image, an illumination mode changing section that changes illumination modes of a light source device, an image processing mode changing section that changes an image processing mode, and a light source control section that controls the light source device.

Abstract: An image processing apparatus includes: an abnormality candidate region detection unit that detects an abnormality candidate region based on a contour edge of a mucosal wall or a surface shape of the mucosal wall in an intraluminal image of a body; and an abnormal region specifying unit that specifies an abnormal region based on texture information of the abnormality candidate region.

Abstract: The invention concerns a module for guiding an elongate medical part along an elongation axis for a robotic system comprising: mobile apparatus mounted so as to rotate relative to a base about a rotational axis, and defining a space for receiving the elongate medical part, and comprising a rotational guiding system comprising a passage region for the elongate medical part corresponding to the location of the passage of the elongate medical part through the mobile apparatus, and a plurality of rotary guiding portions distributed about the rotational axis, and access aperture comprising an angular aperture of at least 30°.

Abstract: The present disclosure relates to calibration assemblies and methods for use with an imaging system, such as an endoscopic imaging system. A calibration assembly includes: an interface for constraining engagement with an endoscopic imaging system; a target coupled with the interface so as to be within the field of view of the imaging system, the target including multiple of markers having calibration features that include identification features; and a processor configured to identify from first and second images obtained at first and second relative spatial arrangements between the imaging system and the target, respectively, at least some of the markers from the identification features, and using the identified markers and calibration feature positions within the images to generate calibration data.

Abstract: The present specification describes a jet distributor provided to supply fluids to each of a plurality of jet openings in a multi-jet endoscope tip. In an embodiment, the jet distributor is supplied with a fluid from a jet pump. The jet distributor includes at least two fluid channels to provide the fluid supplied via the jet pump to the front-jet, right-side-jets and left-side-jets in the endoscope tip. The jet-distributor includes a motor which rotates a rotating plug. The rotating plug includes an internal fluid pathway which becomes intermittently aligned with each of a plurality of fluid output channels in the jet distributor as the plug rotates, thereby providing fluid in a successive manner to the jets in the endoscope tip.

Abstract: A manipulator and manipulator system in which a dynamic surplus is rapidly removed and a moving part actuates rapidly in association with the operation of an operating part. The manipulator includes an operating part operated by an operator, a moving part operated by the operating part, a transmitting part for coupling the operating part to the moving part to transmit driving force of the operating part to the moving part, a transmission compensating part for making up for a dynamic surplus occurring in the transmitting part in association with the operation of the operating part, an input part for acquiring a state of at least one of the operating, moving and transmitting part, and a control unit for controlling the transmission compensating part depending on the state acquired by the input part.

Abstract: A stage apparatus includes a base member, a movable member which moves relative to the base member, thrust generators which generate thrust forces against the movable member, and a position detector which detects a translation position and a rotational position of the movable member relative to the base member. An interaction of the thrust forces causes the movable member to at least one of: translate, rotate, translate while rotating, and translate after rotating relative to the base member. The position detector includes permanent magnets fixed to one of the movable member and the base member, and pairs of magnetic sensors fixed to the other of the movable member and the base member. The position detector detects the translation position and the rotational position of the movable member relative to the base member based on detection signals input from the pairs of magnetic sensors.

Abstract: An endoscope system includes: an endoscope including an image pickup device; an EEPROM provided in the endoscope, and configured to hold data according to a kind of the image pickup device; a video processor to which the endoscope is attachably and detachably connected; a control portion provided in the video processor, and configured to acquire the data from the EEPROM when the endoscope is connected to the video processor and set processing content of noise reduction processing, based on the acquired data; and an NR processing circuit provided in the video processor, and configured to execute the noise reduction processing on a video signal outputted from the image pickup device, based on setting of the control portion. The control portion sets execution/non-execution of the noise reduction processing to the NR processing circuit, based on the acquired data.

Abstract: A technique to remove fog from an image more appropriately has been called for. An image processing system is provided, including: a high saturation pixel extracting unit that extracts, from one frame among a plurality of frames included in a moving image, a high saturation pixel having a saturation higher than a predetermined threshold; a high saturation pixel rate deriving unit that derives a high saturation pixel rate indicative of a percentage of the high saturation pixels in the one frame; and a scene change judging unit that judges whether or not a scene change is included in the moving image based on different criteria depending on whether or not the high saturation pixel rate in the one frame is higher than a predetermined threshold.

Abstract: A living body observation system includes: an illuminating light generation section configured to generate first light and second light; an image pickup section; a computation section configured to calculate a difference degree indicating a degree of difference between a luminance value of a first image obtained by picking up an image of return light of the first light and a luminance value of a second image obtained by picking up an image of return light of the second light in a same pixel; an enhancement processing section configured to enhance a contrast of the pixel in which the difference degree exceeds a threshold relative to a pixel in which the difference degree does not exceed the threshold; and an observation image creation section configured to create an observation image by using the first image after the process by the enhancement processing section and the second image.

Abstract: A capsule medical device guidance system includes: an imaging unit arranged inside a capsule medical device; a guidance unit configured to guide the capsule medical device inside a subject; a display unit including a screen is displayed; a first operation input unit configured to input first instruction information for changing at least one of a position and a posture of the capsule medical device; a second operation input unit configured to input second instruction information for rotating within the screen, the image displayed on the screen, around a center of the image; a guidance controller configured to control the guidance unit so as to change at least one of the position and the posture of the capsule medical device, based on the first instruction information; and a display controller configured to control a direction of the image displayed on the screen based on the second instruction information.

Abstract: The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool located reference features. A method includes: directing illuminating light from a light source onto a robotic surgical tool within a patient body, wherein the tool includes a plurality of primitive features having known positions on the tool, and wherein each feature includes a spherical reflective surface; capturing stereo images of the plurality of primitive features when the tool is within the patient body, wherein the stereo images are captured by an image capture device adjacent the illumination source so that the illumination light reflected from the imaged primitive features toward the image capture device substantially aligns with spherical centers of the surfaces of the imaged primitive features, and determining a position for the tool by processing the stereo images so as to locate the spherical centers of the imaged primitive features by using the reflected light.

Abstract: There is provided an insufflation system and an insufflation apparatus which can prevent a pressure inside a lumen from rapidly increasing and can achieve operability matched to a sense an operator. The insufflation apparatus is connected to an endoscope and an insertion assisting tool which guides the endoscope into the gastrointestinal tract. Carbon dioxide can be insufflated into a gastrointestinal tract of a patient through an internal conduit of the endoscope according to an operator's operation (manual insufflation). When the operator instructs the insufflation apparatus to perform the automatic insufflation, carbon dioxide is intermittently insufflated into the gastrointestinal tract through the insertion assisting tool so as to make the pressure inside the gastrointestinal tract become a set pressure (automatic insufflation). The insufflation flow rate of the manual insufflation is switched between the high flow rate and the low flow rate according to ON/OFF state of the automatic insufflation.

Abstract: The present disclosure relates to calibration target devices, assemblies and methods for use with imaging systems, such as a stereoscopic endoscope. A calibration assembly includes: a target surface extends in three dimensions with calibration markers and a body with an interface that engages an endoscope so the markers are within the field of view. A first calibration marker extends along a first plane of the target surface and a second marker extends along a second plane of the target surface. The planes are different and asymmetric relative to the field of view as seen through the endoscope. Three-dimensional targets, in particular, enable endoscopic calibration using a single image (or pair of images for a stereoscopic endoscope) to reduce the calibration process complexity, calibration time and chance of error as well as allow the efficient calibration of cameras at different focus positions.

Abstract: A medical manipulator system has an operating unit including a grip handle and a composite input unit, a working unit detachably mounted on the operating unit and including an end effector, and a controller for controlling the operating unit. The controller judges starting and ending of a surgical case and increments the usage count of the working unit based on a manner in which the working unit is mounted and dismounted, and the times at which the working unit is mounted and dismounted, and disables the working unit if the usage count of the working unit exceeds a preset count.

Abstract: A command handling method, apparatus, and system. The method includes receiving multiple voice instructions sent by a voice parsing server, where the multiple voice instructions are generated after the voice parsing server parses source voice commands that are from different voice control devices; separately determining whether any two voice instructions in the multiple voice instructions are similar instructions, where the similar instructions are voice instructions corresponding to source voice commands that are obtained by the different voice control devices by collecting same voice information; and when two voice instructions that are similar instructions exist in the multiple voice instructions, discarding one voice instruction in the two similar voice instructions. The embodiments of the present invention further provide a command handling apparatus and system. The embodiments eliminate a control error caused by repeated execution of a command.

Abstract: A control method may be applied to a surgical robot system including a slave robot having a robot arm to which a main surgical tool and an auxiliary surgical tool are coupled, and a master robot having a master manipulator to manipulate the robot arm. The control method includes acquiring data regarding a motion of the master manipulator, predicting a basic motion to be performed by an operator based on the acquired motion data and results of learning a plurality of motions constituting a surgical task, and adjusting the auxiliary surgical tool so as to correspond to the operator basic motion based on the predicted basic motion. The control method allows an operator to perform surgery more comfortably and to move or fix all required surgical tools to or at an optimized surgical position.

Abstract: An ultrasound endoscope system includes: an ultrasound endoscope that wirelessly transmits and receives endoscope state information; a video processor including a first read-out section that reads out the endoscope state information of the ultrasound endoscope; an ultrasound observation apparatus including a second read-out section that reads out endoscope state information obtained by a communication section for observation apparatus; and a control section that compares the endoscope state information obtained by the first read-out section in the video processor and the endoscope state information obtained by the second read-out section in the ultrasound observation apparatus, and causes sharing of information related to a subject to be started between the video processor and the ultrasound observation apparatus only when the endoscope state information obtained by the first read-out section and the endoscope state information obtained by the second read-out section match with each other.

Abstract: An image processing apparatus comprises data receiving circuitry for receiving a volumetric imaging data set which is representative of a volume, the volume comprising a region of interest and lighting circuitry configured to place a virtual light source outside the region of interest and to apply a lighting simulation process to simulate light from the virtual light source. The applying of the lighting simulation process is at least partially different for a first lighting region than for a second lighting region, the first lighting region comprising at least part of the volume outside the region of interest and the second lighting region comprising at least part of the region of interest.

Abstract: An endoscopic system uses the distribution of a luminance level of a photographic image taken by an imaging unit at the distal end of an endoscope to determine whether an observation window has fogged up, and then raises the temperature by a heater and remove the fog on the observation window.

Abstract: A surgical system includes an instrument driver having a distal end positionable in a body cavity and a user input device. The instrument driver and user input device are positioned to removably receive distal and proximal portions, respectively, of a surgical instrument. The user input device is configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument. At least one motor operable to actuate the instrument driver in response to the movement signals and to thereby change position of the distal portion of the surgical instrument within the body cavity.

Abstract: The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool-located reference features. A method includes: capturing a first image of a tool that includes multiple features that define a first marker, where at least one of the features of the first marker includes an identification feature; determining a position for the first marker by processing the first image; determining an identification for the first marker by using the at least one identification feature by processing the first image; and determining a tool state for the tool by using the position and the identification of the first marker.

Abstract: A medical device includes an elongate member having a proximal end, a distal end, a body extending between the proximal end and the distal end, and a lumen located within the body, and a rotor rotatably supported in the lumen, the rotor having an opening for allowing light to pass theretherough, wherein the rotor is rotatable about an axis that extends through the opening, wherein the elongate member further has a region for allowing an output light to exit therethrough.

Abstract: A camera system having a camera head with at least one button; a camera control unit coupleable to the camera head, the camera unit having a network port for receiving requests or information from a remote user; a monitor coupleable to the camera control unit for displaying images from the camera head and information from the camera control unit; the at least one camera head button being configurable by the camera control unit to have a first function and reconfigurable by the camera control unit to have a second function upon receipt of a request or information from a remote user.

Abstract: A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate output motions. A drive system is configured to interface with a corresponding portion of the tool drive assembly for receiving the robotically-generated output motions and applying the output motions to a drive shaft assembly which is configured to apply control motions to a surgical end effector operably coupled thereto. A manually-actuatable control system operably interfaces with the drive shaft assembly to facilitate the selective application of manually-generated control motions to the drive shaft assembly.

Abstract: The invention relates to a method for controlling a surgical microscope (1), wherein the position of the optical system (30) of the microscope (1) is tracked within an operating space by a position tracking system (40), wherein the optical system carrier (20) can be moved by means of a motorized carrier moving system (22, 23, 24). The line of sight of the optical system (30) is automatically set by moving the optical system carrier (20) and is aligned with a predefined direction in said operating space.

Abstract: A surgical system includes an instrument driver having a distal end positionable in a body cavity and a user input device. The instrument driver and user input device are positioned to removably receive distal and proximal portions, respectively, of a surgical instrument. The user input device is configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument. At least one motor operable to actuate the instrument driver in response to the movement signals and to thereby change position of the distal portion of the surgical instrument within the body cavity.

Abstract: A surgical system includes an instrument driver having a distal end positionable in a body cavity and a user input device. The instrument driver and user input device are positioned to removably receive distal and proximal portions, respectively, of a surgical instrument. The user input device is configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument. At least one motor operable to actuate the instrument driver in response to the movement signals and to thereby change position of the distal portion of the surgical instrument within the body cavity.

Abstract: A biological information acquiring system includes a biological information acquiring apparatus having a biological information acquiring section, and a magnetic field generation section, and the biological information acquiring apparatus includes: a power source section which supplies power for driving the biological information acquiring section; a magnetic field detection section which outputs a magnetic field detection signal according to a detection result of a magnetic field generated from the magnetic field generation section; a first switching control section which performs control an on/off state of a first switch section connected to the power source section based on an output state of the magnetic field detection signal; and a second switching control section which performs control the on/off state of a second switch section connected between the first switch section and the biological information acquiring section, based on the output state of the magnetic field detection signal.

Abstract: A medical robotic system that includes a robotically controlled surgical instrument. The system includes a constraint controller that constrains the movement of the instrument based on a predetermined parameter. The parameter may be a surgical space, wherein the instrument cannot be moved into, or alternatively cannot be moved out of, the space. The surgically constrained spaced may be defined through a telestrator screen that allows a surgeon to point and click the boundaries of the space.