Abstract: A method for smart image protocoling includes, using a medical imaging device, obtaining, using a first medical imaging sequence, a first set of medical images of a patient. Anatomical and, if present, disease features are extracted from the first set of medical images. A machine learning trained algorithm is used to determine, in real time, and based on the extracted anatomical and/or disease features, whether a desired medical imaging goal is achieved for the patient. In response to determining that the desired medical imaging goal is achieved, at least one image from the first set of medical images is output as a final image. In response to determining that the desired medical imaging goal has not been achieved, the machine learning trained algorithm is used to select a second medical imaging sequence. A second set of medical images of the patient is obtained using the second medical imaging sequence. The above outlined procedures will be repeated until the final imaging goal is achieved for a patient.

Abstract: In cardiac roadmapping, a “roadmap”, which is typically a representation of the vasculature of a patient obtained via previously acquired data from a CT scan, is overlaid on live intervention data, showing the position of an intervention device obtained using fluoroscopy. In this way, the intervention device may be tracked inside a realistic representation of the patient. The accurate registration of the fluoroscopic image to the roadmap data is an important step, otherwise the reported live position of the intervention device would not be shown at an accurate position inside the roadmap. Registration can be performed by the injection of contrast medium. In the case of cardiac roadmapping, the small vessel diameters mean that it is possible to register intervention devices directly. However, the behavior of intervention devices in larger vessels is difficult to predict, and so device-based registration is harder to achieve in such a context.

Abstract: A gastrointestinal stimulation devices including a random stimulation delivery mechanism(s), configured to provide stimuli to a bodily tissue in a vicinity of the stimulation capsule, the provided random stimuli being characterized by a stimulation parameter, and a control circuitry in communication with said physical stimulation delivery mechanism, and configured to set and alter the stimulation parameter non-systematically, thereby altering the characterization of the stimuli provided to the bodily tissue. The algorithm may be patient tailored, and may have a learning machinery which responds to data being received from the patient.

Abstract: A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position information for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information.

Abstract: A system and method for shape sensing assistance in a medical procedure includes a three-dimensional image (111) of a distributed pathway system (148). A shape sensing enabled elongated device (102) is included for insertion into the pathway system to measure a shape of the elongated device in the pathway system. A pathway determination module (144) is configured to compute a planned path to a target in the three-dimensional image and compute permissible movements of the elongated device at diverging pathways in the pathway system to provide feedback for deciding which of the diverging paths to take in accordance with the planned path.

Abstract: A method for detecting a position and an operating state of an active surgical instrument. The active surgical instrument emits or influences/modifies at least one electromagnetic field in an active operating state. The method includes the steps of positioning a first sensor in order to detect the electromagnetic field emitted or influenced by the active surgical instrument in the active operating state at a known position, detecting the electromagnetic field emitted or influenced by the active surgical instrument in the active operating state by means of the first sensor, generating an output signal by means of the first sensor, the output signal indicating the detection of the electromagnetic field emitted or influenced by the active surgical instrument by means of the first sensor, and ascertaining the position and operating state of the active surgical instrument on the basis of the output signal and the known position of the first sensor.

Abstract: A method and device for tracking objects by surgical navigation systems. The method includes: capturing an image of the tracked object; determining whether a unique identifiable feature associated with at least one totem pattern is discernible in the image; when the unique identifiable feature is discernible: determining a position or an orientation of the tracked object based on the at least one totem pattern; and registering the at least one totem pattern in the surgical coordinate space; and when the unique identifiable feature is indiscernible: determining a position of each totem pattern relative to other totem patterns such that a combination of totem patterns within the captured image is a marker group detectable as a composite totem pattern; determining a position or an orientation of the tracked object based on the composite totem pattern associated with the tracked object; and registering the composite totem pattern in the surgical coordinate space.

Abstract: Methods, systems, and apparatus, including computer-readable storage media, for surgical alignment using references. In one general aspect, a method includes coupling a guide to a joint, the guide defining an axis and having an outer contour formed to substantially conform to a portion of the joint. The first reference is attached at a fixed position relative to the joint. A positioning system is used to determine a position of the axis relative to the first reference, where the position of the axis is determined based upon the position of the guide while the guide is coupled to the joint. The guide is removed from the joint, and after the guide is removed from the joint, an instrument is positioned relative to the axis based on a position of a second reference relative to the first reference.

Abstract: A system and method for motion planning is presented. The system is configured, when an object is or has been in a camera field of view of a camera, to receive first image information that is generated when the camera has a first camera pose. The system is further configured to determine, based on the first image information, a first estimate of the object structure, and to identify, based on the first estimate of the object structure or based on the first image information, an object corner. The system is further configured to cause an end effector apparatus to move the camera to a second camera pose, and to receive second image information for representing the object's structure. The system is configured to determine a second estimate of the object's structure based on the second image information, and to generate a motion plan based on at least the second estimate.

Abstract: A method of operating a robotic control system comprising a master apparatus in communication with an input device having a handle and a slave system having a tool having an end effector whose position and orientation is determined in response to a position and orientation of the handle. The method involves producing a desired end effector position and a desired end effector orientation of the end effector, in response to a current position and a current orientation of the handle. The method further involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a first criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets a second criterion.

Abstract: A method includes inserting into a patient organ a catheter including a position sensor, a device and a handle. The position sensor is attached to a distal end of the catheter. The device is movable along the catheter. The handle includes a control for navigating the device along the catheter to a target location in the patient organ. Based on a location of the position sensor, a target position of the control on the handle that corresponds to the target location of the device is estimated. A marker is set to mark the target position of the control on the handle, and the device is navigated to the target location by setting the control to the marker.

Abstract: A system includes a robotic manipulator and an end effector coupled to the robotic manipulator and being moveable for interacting with a target site in a manual mode and an autonomous mode of operation. A navigation system is configured to track a position of the end effector and the target site. One or more controllers are configured to define a virtual boundary relative to the target site, prevent the end effector from penetrating the virtual boundary in the autonomous mode, and allow the end effector to penetrate the virtual boundary in the manual mode.

Abstract: A dynamic anatomic atlas is disclosed, comprising static atlas data describing atlas segments and dynamic atlas data comprising information on a dynamic property which information is respectively linked to the atlas segments.

Abstract: A surgical system and method for facilitating ad-hoc intraoperative planning of a surgical step to be performed at a target site, the system comprising a digitization device, a navigation system, and a computing device. The digitization device intraoperatively facilitates establishment of one or more local virtual references relative to the target site. The navigation system tracks states of the digitization device. The computing device is coupled to the navigation system and comprises one or more processors and a non-transitory storage medium having stored thereon a computer-aided design (CAD) program. When executed by the one or more processors, the CAD program is configured to generate a virtual reference frame, register the one or more local virtual references within the virtual reference frame, and enable arrangement of different geometrical design objects within the virtual reference frame relative to one or more registered local virtual references to intraoperatively plan the surgical step.

Abstract: Apparatus and methods are described including a processor (20) configured to receive first and second sets of extraluminal images of a lumen, the second set being acquired while an endoluminal device is being moved through the lumen. The processor designates at least one of the first set of images as a roadmap image, and designates, within the lumen in the roadmap image, a roadmap pathway (42). A plurality of features (44, 46, 48, 50) that are visible within at least some of the second set of extraluminal images are identified, and an arrangement of three or more of the features within the image are compared to a shape of at least a portion of the roadmap pathway. Based upon the comparing, the identified features are mapped to locations along the roadmap pathway within the roadmap image. Other applications are also described.

Abstract: According to one embodiment, a medical image diagnosis system includes a plurality of devices, operating circuitry, processing circuitry, and a display. The plurality of devices is to be inserted into a body of an object. The operating circuitry operates at least one of the devices. The processing circuitry obtains a medical image of the object and specifies a device being operated based on movement of the device in the medical image when the device is being operated by the operating circuitry. The display identifiably displays a device to be operated by the operating circuitry based on a result of specification by the processing circuitry.

Abstract: Certain aspects relate to systems and techniques for navigation path tracing. In one aspect, a system displays a preoperative model of a luminal network is displayed. The system determines a position of an instrument within the luminal network relative to the preoperative model. Based on the position of the instrument relative to the preoperative model, the system determines whether to enter a path tracing mode. In path tracing mode the system displays visual indicia indicative of a path of the instrument with respect to the displayed preoperative model. The visual indicia may be used to visual the navigation path of the instrument and/or to extend the preoperative model.

Abstract: Methods are provided for the highlighting of features in composite images through the alternating of images having complementary colors. An image having a feature of interest is used to generate one or more pseudo color images. A series of a pseudo color images and one or more additional pseudo color or original color images are then alternately displayed so that the differently colored regions among the series of images are easily recognizable to an operator. The differently colored regions differ in having hues that are complementary to one another. The methods are particularly useful for the display of information using two or more imaging modalities and channels, such as is the case for some medical applications in which a natural-light image of pink or light-red tissue with deeper red or blue vasculature is overlaid with another functional image.

Abstract: Embodiments of the present disclosure include a medical device, comprising an elongate shaft extending along a shaft longitudinal axis and comprising a shaft proximal portion and a shaft distal portion. A navigational assembly is connected to the shaft distal portion and extends along the shaft longitudinal axis. The navigational assembly includes a navigational electrode positioning feature and a magnetic position sensor positioning feature.

Abstract: Embodiments disclose a real-time surgery method and apparatus for displaying a stereoscopic augmented view of a patient from a static or dynamic viewpoint of the surgeon, which employs real-time three-dimensional surface reconstruction for preoperative and intraoperative image registration. Stereoscopic cameras provide real-time images of the scene including the patient. A stereoscopic video display is used by the surgeon, who sees a graphical representation of the preoperative or intraoperative images blended with the video images in a stereoscopic manner through a see-through display.

Abstract: There is provided herein a system and a method for an insertion device positioning guidance system comprising: an electromagnetic field generator configured to generate an electromagnetic field covering a treatment area; a plate sensor configured to be positioned within the treatment area in a location defining an orientation of a subject; a reference sensor configured to be positioned, within the treatment area, on the subject's torso, the reference sensor is configured to define a reference coordinate system representing the position and orientation of the subject's torso relative to said field generator; a registration sensor configured to mark at least a first and a second anatomic locations relative to the reference coordinate system; and a processor configured to operate said field generator, read signals obtained from said the plate sensor, said reference sensor and said registration sensor, calculate a position and orientation thereof relative to said field generator, generate a 3D anatomic map repres

Abstract: It is an object of the invention to provide for a system that can be used to improve a cancer related clinical workflow compared to the current cancer related clinical workflow. This object is achieved by an image guided system configured for supporting a combined biopsy and treatment procedure using image guidance to bring a needle from a defined location to a predetermined end location in a subject of interest. The image guidance system comprises a medical imaging system (580) configured for acquisition of medical images of a region of interest (403) in the subject of interest, wherein the medical images are used to determine a current position of the predetermined end location (404). The image guidance system further comprises needle guidance system (402, 403) configured for defining a needle position in space and thereby defining the defined location (405, 406) and configured for guiding a biopsy and treatment needle into the region of interest.

Abstract: A medical observation apparatus includes: an optical structure including at least one lens; an image sensor configured to capture an image formed by the optical structure; a temperature sensor configured to detect an environmental temperature of the optical structure; and circuitry configured to generate temperature information based on a detection result of the temperature sensor, and calculate a second focal length obtained by correcting a first focal length based on the temperature information and the first focal length calculated based on a lens position.

Abstract: A medical system tracks the position of a medical instrument within a body of a patient. The medical instrument includes an elongated flexible printed circuit and an electromagnet structure having a conductive coil wound around a core. A control circuit applies an excitation signal across the conductive coil. Electrical current running through the conductive coil (wound around the core) generates a magnetic field. A plurality of sensors sense parameters of the magnetic field and output sensor signals. The control circuit calculates the position of the medical instrument based on the sensor signals.

Abstract: Various medical devices and related systems, including robotic and/or in vivo medical devices, and various robotic surgical devices for in vivo medical procedures. Included herein, for example, is a robotic surgical system having a support beam positionable through an incision, and a robotic device having a device body, first and second rotating shoulder components coupled to the device body, and first and second robotic arms coupled to the first and second shoulder components, respectively.

Abstract: Certain aspects relate to systems and techniques for navigation path tracing. In one aspect, a system displays a preoperative model of a luminal network is displayed. The system determines a position of an instrument within the luminal network relative to the preoperative model. Based on the position of the instrument relative to the preoperative model, the system determines whether to enter a path tracing mode. In path tracing mode the system displays visual indicia indicative of a path of the instrument with respect to the displayed preoperative model. The visual indicia may be used to visual the navigation path of the instrument and/or to extend the preoperative model.

Abstract: An apparatus and method for using rotating shield brachytherapy (RSBT). In an aspect, the RSBT system and method can be used to maintain or increase tumor dose relative to conventional techniques with a dramatic reduction in radiation dose to the urethra, rectum, and bladder in the treatment of prostate cancer through placing partially shielded radiation sources away from sensitive tissues. In an aspect, the invention is an apparatus and method for the precise angular and linear positioning of multiple partially-shielded radiation sources in interstitial needles. In a further aspect, the invention comprises a monitoring and control apparatus for the precise and simultaneous angular positioning of multiple shield-containing catheters in the RBST system by measuring and correcting deviations between actual and desired catheter angular positions and depth in real time before and during treatment delivery.

Abstract: A cognitive optical system for dynamically refining imaging during a medical procedure, involving a processor operable by a set of executable instructions storable in relation to a non-transitory memory device. The processor is configured to automatically adjust an image by automatically compensating for at least one external factor affecting an anatomical area being viewed, automatically adjusting at least one imaging parameter, and automatically adjusting at least one internal control of an optical chain, whereby a quality of the image is improvable in real time.

Abstract: A method of decellularizing a tissue includes disposing the tissue within a device, the device. The device includes a container, first and second electrodes disposed within the container and defining a space between the first and second electrodes to receive the tissue, a perfusion pump, and a conduit connected to the perfusion pump to transport a decellularization composition from the pump into the tissue. The method further includes disposing the decellularization composition within the container to surround the tissue and contact the first and second electrodes, applying an electric potential across the first and second electrodes, and perfusing the decullarization composition into the tissue.

Abstract: Disclosed herein are device and methods for determining an orientation of an instrument for inserting a medical device in a bone. One such method includes simulating an insertion point and an orientation of a simulated surgical hardware installation on a diagnostic representation of the bone, and then using an electronic device to align an instrument for inserting a surgical hardware installation at a desired orientation through an insertion point of the bone by indicating when an orientation of the electronic device is within a threshold of the simulated orientation.

Abstract: In an automated methodology for in vivo image-guided cell patch clamping, a cell patch clamping device is moved into position and targeted to a specific cell using automated image-guided techniques. Cell contact is determined by analyzing the temporal series of measured resistance levels at the clamping device as it is moved. The difference between successive resistance levels is compared to a threshold, which must be exceeded before cell contact is assumed. Pneumatic control methods are used to achieve gigaseal formation and cell break-in, leading to whole-cell patch clamp formation. An automated robotic system capable of performing this methodology automatically performs patch clamping in vivo, automatically locating cells through image guidance and by analyzing the temporal sequence of electrode impedance changes.

Abstract: The present technology relates to an input control device, an input control method, and an operation system, which enable achievement of a highly flexible input operation without a burden on a user. A target point determination unit determines a target point to be a display reference in an operative field image in a display, on the basis of a user's line-of-sight position with respect to the operative field image displayed in the display and of a characteristic point detected in the operative field image. The present technology can be applied to an input device for an operation system.

Abstract: A method of maintaining patient registration in surgical navigation includes: obtaining a patient position in a tracking system frame of reference, based on a fiducial marker array affixed in a first position relative to the patient; receiving an initial surface scan depicting the patient and the fiducial array; responsive to receiving an intraoperative image depicting the patient: obtaining a position, in the tracking system frame of reference, of the fiducial array affixed in a second position relative to the patient; receiving a secondary surface scan depicting the patient and the fiducial array; detecting a deviation in a position of the fiducial marker array relative to the patient between the initial and secondary surface scans; and applying the deviation to the position of the patient to generate an updated position of the patient in the tracking system frame of reference, based on the fiducial array affixed in the second position.

Abstract: This document relates to a medical application of augmented reality in which areal image shows a medical device, or at least a part thereof. In an exemplary application, the real image further shows at least a part of a patient's body which is (to be) treated using the medical device. A part of the medical device might not be visible in the real image, for example because it extends into or behind the patient's body. In this case, the virtual image can comprise an augmentation of the medical device, which, for example, represents at least the part of the medical device which is invisible in the real image. This document in particular addresses a correct alignment of the augmentation with the medical device.

Abstract: It is an object of the invention to improve tissue classification in MRI images. In particular it is an object of the invention to improve the classification of bone and air in MRI images. This object is achieved by a method for tissue classification in a region of interest in a magnetic resonance (MR) image comprising a first region and a second region, wherein the first region represents air and the second region represents bone.

Abstract: The present invention provides a tool and method for performing a lumbar puncture. The tool may include a first arm and a second arm and may form a T-shape. The first arm may be longer than the second arm. Also included is a projection extending from one of the arms. The projection has a downward angle and a passageway that is sized to accommodate a needle. The tool is configured to maintain the perpendicular placement of a needle between vertebrae and a preferred angle of insertion of about 15° during a procedure.

Abstract: A method is for output of position information of a medical instrument, configured to penetrate at least partly an area of the body of a patient. A structure image, an instrument image and an operation scene image are registered with one another. A registered structure image, a registered instrument image and a registered operation scene image are produced from the registration. An overlay image is displayed with a VR or AR display facility, including at least parts of the registered structure image of the registered operation scene image (BrO)—or the real view of the corresponding part of the real area of the body—and of the registered instrument image. A corresponding image generation system is also disclosed.

Abstract: A system for registration feedback includes a segmentation module configured to segment a relevant three-dimensional structure in a first image to be registered and to segment a same relevant structure in a second image to be registered to provide three-dimensional segmentations of the first and second images. A registration module is configured to register the three-dimensional segmentations of the first and second images by applying a registration transformation to one of the three-dimensional segmentations to map one three-dimensional segmentation onto the coordinate space of the other.

Abstract: A controller generates, based on a position of a marker in an X-ray image, an intermediate image in which a device inserted into a subject's body is displayed. After the generation of the intermediate image, the controller matches the marker of the X-ray image with a marker of the intermediate image based on the position of the marker in the X-ray image and a position of a marker in the intermediate image to align the X-ray image and the intermediate image with each other every time the X-ray image is newly generated. The controller then controls the display to display an overlaid image generated by overlaying the X-ray image and the intermediate image aligned with each other.

Abstract: A multicolor 2D-photo-marker including a rectangular matrix of data pixels, framed by a contrasting matrix locator, wherein the rectangular matrix of data pixels includes at least one orientation data pixel that carry photo-marker orientation information and is located at a pre-selected location, and wherein a unique color and location combination of the multiple data pixels encodes identification information of the object with which the multicolor 2D-photo-marker is coupled with. Preferably, the rectangular matrix of data pixels further includes color reference pixels, each located at a pre-selected location, designated to serve as dictionary hue pixels. Preferably, the pre-selected location of each color reference pixels is at a corner of the rectangular matrix of data pixels. An orientation data pixel may also serve as a color reference pixel.

Abstract: A system for facilitating vascular access is disclosed. The system includes an imaging device including a transducer configured for ultrasound image data acquisition, an ECG signal acquisition device configured to acquire ECG signal data via one or more leads, wherein a first lead is directly connected to skin of a patient, and a mobile application configured to render a graphical user interface to be displayed on a display screen of a mobile device, wherein the graphical user interface illustrates a representation of at least one of the ultrasound image data or the ECG signal data that is wireless transmitted to the mobile device.

Abstract: A method for measuring and representing the level of local irradiation doses, in at least two dimensions, comprises: a step of positioning N probes Si sensitive to irradiating radiation, each corresponding to a local zone Zi according to a known topology; a step of acquiring, by each of the probes, the level of radiation ISi detected and periodically recording numerical values ISi(t); and a step of converting the numerical values ISi(t) into values DSi(t) corresponding to the radiation dose applied to each of the Z zones associated with a probe Si, according to a calibration table. The method further comprises, during the measurement sequence, steps of spatial interpolation calculation of at least one estimated irradiation level value ISiv(t) of at least one virtual zone Ziv that is not associated with a probe. A measurement device for implementing this method is also described.

Abstract: A method includes receiving an anatomical mapping that includes multiple measurements acquired at multiple respective locations within an organ of a patient. An estimated surface of the organ is computed based on the measurements. A three-dimensional (3D) shell of the organ, which extends inwards from the estimated surface of the organ and has a predefined thickness, is defined. A quality of the anatomical mapping is estimated based on the measurements whose locations fall within the 3D shell.

Abstract: Methods and systems for performing robotically-assisted surgery in conjunction with intra-operative imaging. A method includes moving a robotic arm with respect to a patient and an imaging device to move an end effector of the robotic arm to a pre-determined position and orientation with respect to the patient based on imaging data of the patient obtained by the imaging device. The robotic arm maintains the end effector in the pre-determined position and orientation with respect to the patient and does not collide with the imaging device or with the patient when the imaging device moves with respect to the patient.

Abstract: An endoscopic camera has two or more cameras positioned at a distal end, positioned to provide partially overlapping fields of view. The cameras communicate captured digital images the length of the flexible endoscope, where they may be saved and processed to provide additional imaging features. With partially overlapping images from two or more cameras, image processing can provide panoramic images, super resolution images, and three-dimensional images. One or more of these image modes may also be enhanced to provide a virtualization window that displays a portion of a larger or higher resolution image. The virtualization window displays the selected area of the image, and may be moved or zoomed around the image to provide a virtual endoscope repositioning experience, where the endoscope remains statically positioned but the virtualization window presents a sense of movement and navigation around the surgical area.

Abstract: A kit including a medical guide template, and a sterilizable receptacle accommodating the guide template, the kit being configured to allow deformation of the template into an operational medical guide.

Abstract: A method of detecting dislodgement of a navigational reference for a localization system includes securing a reference catheter, including at least one reference localization element, at an initial reference location within a localization field. The positions of one or more of the reference localization elements are monitored for a perceived displacement that suggests that the reference catheter has become dislodged from the initial reference location (e.g., a displacement above a certain threshold, such as about 4 mm). The direction of this perceived displacement may then be further analyzed (e.g., compared to a predicted or most likely direction of displacement) to determine whether there has been an actual dislodgement of the reference catheter, and, if so, an appropriate signal (e.g., an audible or visual warning) may be generated. Upon dislodgement, guidance may be provided to aid the practitioner in restoring the reference catheter to its initial location.

Abstract: A system for implanting a prosthesis includes a prosthesis that extends about a major longitudinal axis and an alignment device connected to the prosthesis. The alignment device appears asymmetric across a plane coplanar to a longitudinal axis of the prosthesis when viewed both along the plane and transversely to the longitudinal axis of the prosthesis delivery and also lies in a plane parallel to and spaced apart from the longitudinal axis of the prosthesis. The alignment device is visible to a user, thereby indicating a rotational and an axial position of the prosthesis with respect to the treatment site prior to implantation of the prosthesis at a treatment site. In an embodiment, the system includes a guidewire catheter that is asymmetric along a major longitudinal axis.

Abstract: Embodiments disclose a real-time surgery method and apparatus for displaying a stereoscopic augmented view of a patient from a static or dynamic viewpoint of the surgeon, which employs real-time three-dimensional surface reconstruction for preoperative and intraoperative image registration. Stereoscopic cameras provide real-time images of the scene including the patient. A stereoscopic video display is used by the surgeon, who sees a graphical representation of the preoperative or intraoperative images blended with the video images in a stereoscopic manner through a see-through display.

Abstract: A camera image is acquired by a camera and a structure that is optically concealed in the camera image is acquired by a material-penetrating acquisition modality. A stereoscopic depth location of a common reference point is then fixed at a predetermined value. The stereoscopic representation is then generated from the camera image, and an overlay image is generated based on the concealed structure. In this case, a depth location of the camera image is fixed at the depth location of the reference point, and, as a function thereof, a depth location of the overlay image is adjusted in relation to the depth location of the reference point, such that in the stereoscopic representation, the overlay image appears realistically in front of and/or behind an optically opaque part in the recording direction of the camera image.