Techniques for integrated light source for use with an imaging device

Abstract

Techniques for integrated light source for use with an imaging device (210) comprising an elongate shaft (228) including a proximal end and a distal end, one or more optical receivers (236), one or more optical fibers (230) extending from the distal end of the shaft (228) to at least the proximal end of the shaft (228), and a diffuser (234) located at a distal end of the one or more optical fibers (230). A proximal end of the one or more optical fibers (230) is configured to be coupled to an illumination source (212).

Description

Atorney Docket No. P06983-WO:0139PCTECHNIQUES FOR INTEGRATED LIGHT SOURCE FOR USE WITH AN IMAGING DEVICE RELATED APPLICATIONS

[0001] This application claims the benefit to U.S. Provisional Application No. 63 / 748,675, filed January 23, 2025, and entitled “Techniques for Integrated Light Source for Use with an Imaging Device,” the subject matter of which is incorporated by reference herein.BACKGROUNDField of the Various Embodiments

[0002] The contemplated embodiments relate generally to imaging systems and, more specifically, to techniques for integrated light source for use with an imaging device.Description of the Related Art

[0003] Visual inspection of difficult to see spaces can be done with imaging devices such as a borescope or an endoscope. As a medical example, to examine the interior anatomy of a patient, a surgeon can use an endoscope with an elongate shaft with an optical system at the distal end, and a light source to illuminate areas of a workspace from which the optical system can be used to capture images. In conventional endoscopes, the light source is typically located at a significant distance (e.g., 5m or more) from the endoscope with light from the light source being transmitted to distal end of the endoscope via one or more optical fibers.

[0004] Once the areas of workspace are illuminated, the reflected light from the internal surfaces is captured at a distal end of the endoscope. An image is then formed by passing the captured light to one or more optical receivers (e.g., CCD arrays, CMOS sensors, and SPAS sensors) located, for example, at either the distal end or a proximal end of the imaging device. The image is then transmitted via electronic signals to a display system such as a monitor for the surgeon or another operator to see in real-time. In conventional endoscopes, the light source typically is a white light emitting diode (LED) which is coupled with an optical fiber to transmit the light and powered by a power source at a proximal end of the cable containing the light source.

[0005] One drawback of conventional approaches is that the light source needs to have enough power so that sufficient light can reach the workspace area despite the optical losses along the one or more optical fibers. Another drawback of conventional approaches is that the white light LEDs generate a broad spectrum of wavelengths that increases losses during theAtorney Docket No. P06983-WO:0139PClight transmission. An optical fiber with large numerical aperture (NA) can capture most of the wavelengths in the white source. However, to transmit the white light with little loss from the light source along the cable and to the distal end of the imaging device, special optical fibers that have a numerical aperture matched to the light source characteristics are needed.

[0006] As the foregoing illustrates, what is needed in the art are more effective techniques to illuminate areas of workspace in an elongated imaging device.SUMMARY

[0007] One embodiment of the present disclosure sets forth an imaging device comprising an elongate shaft including a proximal end and a distal end, one or more optical receivers, one or more optical fibers extending from the distal end of the shaft to at least the proximal end of the shaft, and a diffuser located at a distal end of the one or more optical fibers. A proximal end of the one or more optical fibers is configured to be coupled to an illumination source.

[0008] Another embodiment of the present disclosure sets forth an imaging system comprising a processing system, a cable, and an imaging device. The imaging device comprises an elongate shaft including a proximal end and a distal end, one or more optical receivers, one or more optical fibers extending from the distal end of the shaft to at least the proximal end of the shaft, and a diffuser located at a distal end of the one or more optical fibers. The cable couples the processing system and the imaging device. A proximal end of the one or more optical fibers is configured to be coupled to an illumination source.

[0009] Another embodiment of the present disclosure sets forth a method for capturing images. The method comprises inserting an imaging device into a workspace. The imaging device comprises an elongate shaft including a proximal end and a distal end, one or more optical receivers, one or more optical fibers extending from the distal end of the shaft to at least the proximal end of the shaft, and a diffuser located at a distal end of the one or more optical fibers. The method further comprises generating light using an illumination source, wherein the illumination source is coupled to a proximal end of the one or more optical fibers, diffusing the light generated by the illumination source using the diffuser, the diffused light being projected into a workspace, and capturing one or more images using the one or more optical receivers.

[0010] At least one technical advantage of the disclosed techniques relative to the prior art is that the disclosed techniques increase the efficiency of light transmission from 1-2% inAtorney Docket No. P06983-WO:0139PCexisting systems to 50% or higher. Another technical advantage of the disclosed techniques is that with the disclosed techniques, optical fibers with smaller NA can be used. This advantageously allows the imaging device to use smaller light sources, less power, and less expensive materials. These technical advantages represent one or more technological improvements over prior art approaches.BRIEF DESCRIPTION OF THE DRAWINGS

[0011] So that the manner in which the above recited features of the various embodiments can be understood in detail, a more particular description of the inventive concepts, briefly summarized above, may be had by reference to various embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only typical embodiments of the inventive concepts and are therefore not to be considered limiting of scope in any way, and that there are other equally effective embodiments.

[0012] FIG. l is a simplified diagram of an illumination system, according to some embodiments;

[0013] FIG. 2 is a simplified diagram of an imaging system, according to some embodiments;

[0014] FIG. 3 is a simplified diagram of a computer-assisted system, according to some embodiments;

[0015] FIG. 4 is a simplified diagram of an imaging system with an alternative illumination source location, according to some embodiments;

[0016] FIG. 5 is a simplified diagram of an imaging device with another alternative illumination source location, according to some embodiments;

[0017] FIG. 6 is a simplified diagram of a mounted imaging device, according to some embodiments;

[0018] FIG. 7 is a simplified diagram of a mounted imaging device with an alternative illumination source location, according to some embodiments;

[0019] FIG. 8 illustrates an exemplary illumination source with three illumination generating elements, according to some embodiments;Atorney Docket No. P06983-WO:0139PC

[0020] FIGs 9 A and 9B are more detailed illustrations of the imaging head elements of FIG.1, according to some embodiments;

[0021] FIGs. 9C, 9D and 9E are more detailed illustrations of the light projected by the imaging device of FIG. 1, according to some embodiments; and

[0022] FIG. 10 is a flow diagram of method steps for utilizing the imaging device of FIG. 1, according to some embodiments.DETAILED DESCRIPTION

[0023] This description and the accompanying drawings that illustrate inventive aspects, embodiments, embodiments, or modules should not be taken as limiting — the claims define the protected invention. Various mechanical, compositional, structural, electrical, and operational changes may be made without departing from the spirit and scope of this description and the claims. In some instances, well-known circuits, structures, or techniques have not been shown or described in detail in order not to obscure the invention. Like numbers in two or more figures represent the same or similar elements.

[0024] In this description, specific details are set forth describing some embodiments consistent with the present disclosure. Numerous specific details are set forth in order to provide a thorough understanding of the embodiments. It will be apparent, however, to one skilled in the art that some embodiments may be practiced without some or all of these specific details. The specific embodiments disclosed herein are meant to be illustrative but not limiting. One skilled in the art may realize other elements that, although not specifically described here, are within the scope and the spirit of this disclosure. In addition, to avoid unnecessary repetition, one or more features shown and described in association with one embodiment may be incorporated into other embodiments unless specifically described otherwise or if the one or more features would make an embodiment non-functional.

[0025] Further, the terminology in this description is not intended to limit the invention. For example, spatially relative terms-such as “beneath”, “below”, “lower”, “above”, “upper”, “proximal”, “distal”, and the like-may be used to describe one element’s or feature’s relationship to another element or feature as illustrated in the figures. These spatially relative terms are intended to encompass different positions (i.e., locations) and orientations (i.e., rotational placements) of the elements or their operation in addition to the position and orientation shown in the figures. For example, if the content of one of the figures is turnedAtorney Docket No. P06983-WO:0139PCover, elements described as “below” or “beneath” other elements or features would then be “above” or “over” the other elements or features. Likewise, descriptions of movement along and around various axes include various special element positions and orientations. In addition, the singular forms “a”, “an”, and “the” are intended to include the plural forms as well, unless the context indicates otherwise. And, the terms “comprises”, “comprising”, “includes”, and the like specify the presence of stated features, steps, operations, elements, and / or components but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups. Components described as coupled may be electrically or mechanically directly coupled, or they may be indirectly coupled via one or more intermediate components.

[0026] Elements described in detail with reference to one embodiment, embodiment, or module may, whenever practical, be included in other embodiments, embodiments, or modules in which they are not specifically shown or described. For example, if an element is described in detail with reference to one embodiment and is not described with reference to a second embodiment, the element may nevertheless be claimed as included in the second embodiment. Thus, to avoid unnecessary repetition in the following description, one or more elements shown and described in association with one embodiment, embodiment, or application may be incorporated into other embodiments, embodiments, or aspects unless specifically described otherwise, unless the one or more elements would make an embodiment or embodiment nonfunctional, or unless two or more of the elements provide conflicting functions.

[0027] In some instances, well known methods, procedures, components, and circuits have not been described in detail so as not to unnecessarily obscure aspects of the embodiments.

[0028] This disclosure describes various elements (such as systems and devices, and portions of systems and devices) with examples in three-dimensional space. In such examples, the term “position” refers to the location of an element or a portion of an element in a three-dimensional space (e.g., three degrees of translational freedom along Cartesian x-, y-, and z-coordinates). Also in such examples, the term “orientation” refers to the rotational placement of an element or a portion of an element (three degrees of rotational freedom - e.g., roll, pitch, and yaw). Other examples may encompass other dimensional spaces, such as two-dimensional spaces. As used herein, the term “pose” refers to the position, the orientation, or the position and the orientation combined, of an element or a portion of an element. As used herein, and for an element or portion of an element, e.g. a device (e.g., a computer-assisted device or a repositionable arm), the term “proximal” for elements in a kinematic chain refers to a directionAtorney Docket No. P06983-WO:0139PCtoward the base of the kinematic chain, and the term “distal” refers to a direction away from the base along the kinematic chain.

[0029] Aspects of this disclosure are described in reference to electronic systems and computer-assisted devices, which may include systems and devices that are teleoperated, remote-controlled, autonomous, semiautonomous, robotic, and / or the like. Further, aspects of this disclosure are described in terms of an embodiment using a medical system, such as the da Vinci® Surgical System commercialized by Intuitive Surgical, Inc. of Sunnyvale, California. Knowledgeable persons will understand, however, that inventive aspects disclosed herein may be embodied and implemented in various ways, including robotic and, if applicable, non-robotic embodiments. Embodiments described for da Vinci® Surgical Systems are merely exemplary, and are not to be considered as limiting the scope of the inventive aspects disclosed herein. For example, techniques described with reference to surgical instruments and surgical methods may be used in other contexts. Thus, the instruments, systems, and methods described herein may be used for humans, animals, portions of human or animal anatomy, industrial systems, general robotic, or teleoperational systems. As further examples, the instruments, systems, and methods described herein may be used for non-medical purposes including industrial uses, general robotic uses, sensing or manipulating non-tissue work pieces, cosmetic improvements, imaging of human or animal anatomy, gathering data from human or animal anatomy, setting up or taking down systems, training medical or non-medical personnel, and / or the like. Additional example applications include use for procedures on tissue removed from human or animal anatomies (with or without return to a human or animal anatomy) and for procedures on human or animal cadavers. Further, these techniques can also be used for medical treatment or diagnosis procedures that include, or do not include, surgical aspects.

[0030] In the following description, numerous specific details are set forth to provide a more thorough understanding of the various embodiments. However, it will be apparent to one skilled in the art that the inventive concepts may be practiced without one or more of these specific details.Illumination System

[0031] FIG. 1 is a simplified diagram of an illumination system 100, according to some embodiments. As shown, illumination system 100 includes, without limitation, an illumination source 102, an optical fiber 104, and a diffuser 106. Illumination system 100 can be used asAtorney Docket No. P06983-WO:0139PCpart of any technical feasible system using illumination, such as an imaging system (e.g., an endoscope, a borescope) and / or any other imaging device.

[0032] Illumination source 102 is the source of illumination used to illuminate a workspace. Illumination source 102 can generate any kind of light, such as visible light and / or non-visible light. In some embodiments, illumination source 102 includes one or more LEDs, laser diodes, and / or the like. Illumination source 102 can also include a collimating lens or lenses (not shown) that direct the illumination light into optical fiber 104. Examples of illumination source 102 are described in more detail in conjunction with FIGs. 2, 4, 5, 6, 7, and 8.

[0033] Optical fiber 104 transfers the illumination light from illumination source 102 to diffuser 106 with little loss. Optical fiber 104 extends from illumination source 102 to diffuser 106. Optical fiber 104 has a core that carries the illumination light and a cladding that reflects the illumination light into the core to prevent signal loss. The core can be made of glass or plastic and the cladding can also be made of glass but with a different composition to create a lower refractive index than the core. For optical fibers with plastic cores, the cladding can be made of a material with a lower refractive index. Examples of optical fiber 104 are described in more detail in conjunction with FIGs. 2, 4, 5, 6, 7, 8, and 9.

[0034] Diffuser 106 receives the illumination light from optical fiber 104 and further scatters and spreads the illumination light to change the size and shape of the illumination area of the illumination light delivered to the workspace. For example, diffuser 106 scatters the illumination light to widen the illumination area of the illumination light delivered to the workspace. As another example, diffuser 106 converts the round aperture of optical fiber 104 to a rectangular illumination area. Diffuser 103 can also alter the spectrum of the illumination light delivered to the workspace. For example, a yellow phosphor or quantum dot materials used in diffuser 106 can convert blue light emitted by illumination source 102 to a white light. Examples of diffuser 106 are described in more detail in conjunction with FIGs. 2, 4, 5, and 9.

[0035] FIG. 2 is a simplified diagram of an imaging system 200, according to some embodiments. Imaging system 200 includes, without limitation, a processing system 202, a display unit 204, a cable 206, a first housing 208, and an imaging device 210. Located within first housing 208 are, without limitation, an illumination source 212 and a lens 214. Imaging device 210 includes, without limitation, an imaging device housing 216, an elongate shaft 228, and imaging head 238. Located within or on imaging device housing 216 are, without limitation, an optional display 218, an optional status indicator 220, a power source 240, andAtorney Docket No. P06983-WO:0139PCone or more optional input devices 222, 224, and 226. Elongate shaft 228 includes, without limitation, one or more optical fibers 230 and image delivery mechanism 232. Imaging head 238 further includes, without limitation, one or more optical receivers 236(l)-(2) and a diffuser 234. Depending upon the particular procedure for which the imaging device 210 is being used, elongate shaft 228 can be inserted through an opening (e.g., an access port, a body incision, a natural orifice, a cannula, a guide tube, and / or the like) in order to place imaging head 238 in proximity to a workspace of interest.

[0036] Processing system 202 controls operations of imaging system 200 and / or imaging device 210. Processing system 202 further processes images generated by the one or more optical receivers 236(l)-(2). In some embodiments, processing system 202 is a computing system that includes one or more processors, memory, and one or more applications (not shown). An example of processing system 202 is described in more detail in conjunction with Fig. 3. Processor(s) in processing system 202 can be any technically feasible form of processing device configured to process data and execute program code. For example, any of processor(s) in processing system 202 could be one or more central processing units, multicore processors, microprocessors, microcontrollers, digital signal processors, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), graphics processing units (GPUs), tensor processing units (TPUs), and / or the like.

[0037] Memory in processing system 202 stores content, such as software applications and data, for use by processor(s). Memory can be any type of memory capable of storing data and software applications, such as a random-access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash ROM), or any suitable combination of the foregoing. In some embodiments, a storage (not shown) can supplement or replace memory.

[0038] In some embodiments, processing system 202 comprises a graphics subsystem that delivers images to an optional display unit 204 that can be any type of display device such as a liquid crystal display, a light-emitting diode display, and / or the like. In some embodiments, processing system 202 incorporates circuitry optimized for graphics and video processing, including, for example, video output circuitry. Such circuitry can be incorporated across one or more parallel processing units (PPUs), also referred to herein as parallel processors, included within processing system 202. Display unit 204 can display processed images generated by imaging system 200 in real-time or images stored in memory, cache or any data storage.Atorney Docket No. P06983-WO:0139PC

[0039] Cable 206 transfers power, imaging data, and / or the like between processing system 202 located at the proximal end of cable 206 and first housing 208 located at the distal end of cable 206. Cable 206 can include one or more wires, cables, optical fibers, and / or the like. For example, cable 206 can provide power from processing system 202 to illumination source 212, can provide commands for controlling illumination source 212 and / or imaging device 210, can transmit images captured by imaging device 210 to processing system 202, and / or the like.

[0040] First housing 208 is located near the distal end of cable 206. First housing 208 is coupled with imaging device housing 216 when imaging device 210 is being used in conjunction with processing system 202. When coupled together, illumination, imaging data, power, and / or the like is shared between first housing 208 and imaging device housing 216. In some embodiments, first housing 208 includes one or more coils (not shown) for transmitting power inductively to power source 240 in imaging device housing 216.

[0041] Illumination source 212, which is an example of illumination source 102 is located within first housing 208, is the source of illumination used to illuminate the workspace into which imaging device 210 is inserted. This illumination is used to provide sufficient light to allow the one or more optical receivers 236 to capture images of the workspace. Illumination source 212 can generate any kind of light, such as visible light and / or non-visible light. The visible light can include light in a limited spectrum (e.g., blue light with a wavelength between 405 and 450 nm), multi-spectrum light (e.g., white light, red-green-blue light, and / or the like). The non-visible light can include infrared light and / or the like, which can be used for fluorescence imaging within the workspace, infrared imaging, and / or the like. In some embodiments, illumination source 212 includes one or more LEDs, laser diodes, and / or the like.

[0042] As shown, FIG. 2 depicts one illumination source 212 located in first housing 208. However, one of ordinary skill would understand that different imaging systems 200 with different illumination sources are possible and can be consistent with the embodiments of imaging system 200 as described elsewhere herein. In some embodiments, illumination source 212 can be a combination of two or more illumination sources. For example, multiple illumination sources, each with a corresponding one or more lenses that further direct and / or blend the light using one or more mirrors towards one or more optical fibers such as one or more optical fibers 230. To blend the one or more illumination sources, one or more mirrors can partially reflect or transmit the light and superimpose the light from the one or moreAtorney Docket No. P06983-WO:0139PCillumination sources. An example of an illumination system with three illumination sources is described in more detail in conjunction with FIG. 8.

[0043] Lens 214 located within first housing 208 receives the illumination light from illumination source 212. Lens 214 then refracts the illumination light from illumination source 212 to focus or direct the illumination light in a controlled manner. For example, lens 214 can include a collimating lens or lenses that direct the illumination light into the proximal end of the one or more optical fibers 230. As another example, lens 214 can include one or more sapphire windows. Lens 214 can further include both spherical and aspherical elements to reduce aberrations for applications with sharp focus and high resolution. The design of lens 214 can be used with any kind of light, such as visible light and / or non-visible light. In some embodiments that multiple illumination sources such as illumination source 212 are used, each illumination source 212 can be coupled with one or more lenses 214.

[0044] Imaging device housing 216 is located near a proximal end of imaging device 210. Imaging device housing 216 is coupled with first housing 208 when imaging device 210 is being used in conjunction with processing system 202. When coupled together, illumination, imaging data, power, and / or the like is shared between first housing 208 and imaging device housing 216. For example, the illumination light generated by illumination source 212 can pass through lens 214 and enter the one or more optical fibers 230 that extend into imaging device housing 216. In some embodiments, imaging device housing 216 can be the handheld part of a handheld imaging device 210 and / or be configured to be mounted to a repositionable structure. Imaging device housing 216 can further have one or more interface devices mounted thereto, such as any of display 218, status indicator 220, and / or the one or more input devices 222, 224, and 226

[0045] In some embodiments, optional display 218 located on imaging device housing 216 provides information about imaging device 210 and / or illumination source 212. For example, display 218 can show whether power is on or off, whether illumination is being generated, whether first housing 208 is coupled to imaging device housing 216, and / or the like. Display 218 can further be used to display one or more images captured by one or more optical receiver 236 to allow an operator to monitor which portions of the workspace are being imaged and / or to assist the operator in positioning and / or orienting imaging device 210 and / or one or more optical receivers 236(l)-(2).Atorney Docket No. P06983-WO:0139PC

[0046] In some embodiments, optional status indicator 220 located on imaging device housing 216 provides information about imaging device 210, illumination source 212, and / or power source 240. For example, optional status indicator 220 can show whether power is on or off, the illumination is being generated, first housing 208 is coupled to imaging device housing 216, and / or the like.

[0047] In some embodiments, the one or more optional input devices 222, 224, and 226 are used by the operator manipulating imaging device 210 to control imaging device 210. Each of the one or more input devices 222, 224, and 226 can be any technically feasible type of input device, such as a button, a switch, a scroll wheel joystick, keypad, a touch screen, and / or the like. For example, one or more of input device 222, 224, and 226 can be used to turn power on or off for imaging device 210. As another example, one or more of input device 222, 224, and 226 can be used to configure imaging device 210, such as by navigating through one or more user interface elements (e.g., menus) displayed on display 218, selecting options displayed on display 218, and / or the like. As another example, one or more of input devices 222, 224, and 226 can be used to turn on / off the illumination source or change the illumination source spectrum. In another example, one or more of input devices 222, 224, and 226 can be used to turn on or off image capture using imaging device 210 and / or capture a still image using imaging device 210. And although FIG. 2 depicts three input devices 222, 224, and 226, fewer or more input devices can be located on imaging device housing 216.

[0048] Power source 240, which is located within imaging device housing 216, supplies power to one or more components of imaging device 210, such as any of input devices 222, 224, and 226, display 218, status indicator 220, one or more optical receivers 236(l)-(2), delivery mechanism 232, etc. In some embodiments, power source 240 includes one or more batteries. In some embodiments, power source 240 is electrically coupled to power supply wires in first housing 208. In some embodiments, power source 240 includes one or more coils for receiving power inductively from first housing 208.

[0049] A proximal end of elongate shaft 228 is coupled to imaging device housing 216. In some embodiments, elongate shaft 228 is rigidly coupled to imaging device housing 216 so that the operator can manipulate elongate shaft 228 by manipulating imaging device housing 216. In some embodiments, elongate shaft 228 is movable relative to imaging device housing 216 so that, for example, elongate shaft 228 can be rolled relative to imaging device housing 216. And although elongate shaft 228 is depicted as a straight shaft in FIG. 2, elongate shaft 228 could be flexible, could include one or more bends, could include an articulated wrist,Atorney Docket No. P06983-WO:0139PCand / or the like. Included within elongate shaft 228 are one or more optical fibers 230 and image delivery mechanism 232. Each one or more optical fibers 230 and / or image delivery mechanism 232 can be located within one or more lumens extending from the proximal end to at least the distal end of elongate shaft 228. In some embodiments, elongate shaft 228 can be made with different diameters to encapsulate one or more optical fibers 230 and one or more image delivery mechanisms 232. For example, the diameter of elongate shaft 228 can be 12mm, 8mm, 4mm, or other sizes.

[0050] The one or more optical fibers 230, which are examples of optical fiber 104, transfer the illuminating light from illumination source 212 to diffuser 234 with little loss. The one or more optical fibers 230 can be located within one or more lumens extending from the proximal end to the distal end of elongate shaft 228. In some embodiments, the one or more optical fibers 230 extend from illumination source 212 to the distal end of elongate shaft 228. In some embodiments, the one or more optical fibers can have a low NA with the value of between 0.22-0.25 (or even a lower NA e.g., 0.1). In some embodiments, the one or more optical fibers 230 can have a large core (e.g., a core with the diameter of at least 10 micrometers).

[0051] Diffuser 234 located in imaging head 238 at the distal end of the elongate shaft 228 receives the light from the one or more optical fibers 230. Diffuser 234 further scatters and spreads the light to increase the NA of the light delivered to the workspace and / or alters the spectrum of the light delivered to the workspace. For example, diffuser 234 can convert the low NA of the one or more optical fibers 230 to illuminate a wider area within the workspace. Additionally, diffuser 234 can widen the light delivered to the workspace to match the field of view of the one or more optical receivers 236(l)-(2). Diffuser 234 can further convert the low numerical aperture of the optical fiber to at least an NA of 0.65 (around 70-80 degrees in angular width), to an NA of 0.9 (around 120-140 degrees of angular width), or a larger NA. The shape and characteristics of diffuser 234 can also change the shape of the illumination area. In some embodiments, diffuser 234 is used to convert the round aperture of the one or more optical fibers 230 to a rectangular illumination area. The rectangular illumination area can have, as an example, a 5:4 aspect ratio based on the shape of images captured by the one or more optical receivers 236.

[0052] Depending on the spectrum of the illumination light (e.g., a white light or a blue light) generated by illumination source 212, different materials can be used for diffuser 234. For example, a yellow phosphor or quantum dot materials can convert the spectrum of the blue laser light to a white light used by the one or more optical receivers 236(l)-(2).Atorney Docket No. P06983-WO:0139PC

[0053] Optical receivers 236(l)-(2) are located in imaging head 238, at the distal end of elongate shaft 228. In some embodiments, each optical receiver 236 is any feasible sensor that captures light and generates images such as charge-coupled device (CCD) arrays and Complementary Metal-Oxide-Semiconductor (CMOS) sensors. In such embodiments, the one or more images captured by the one or more optical receivers 236(l)-(2) are transferred to imaging device housing 216 using image delivery mechanism 232. While optical receivers 236(l)-(2) are depicted as stereoscopic, optical receiver 236 could also be a monocular. In some embodiments, the one or more optical receivers 236 include one or more optical lenses and / or other optical components (not shown). In some embodiments, the one or more optical receivers 236 do not include optical sensors and instead couple imaging light to one or more optical fibers as part of image delivery mechanism 232 for delivering to one or more optical sensors located elsewhere in imaging device 210, such as within imaging device housing 216.

[0054] Image delivery mechanism 232 transmits images and / or data corresponding to images captured by the one or more optical receivers 236 to components within imaging device housing 216. Image delivery mechanism 232 extends from the distal end of elongate shaft 228 to the proximal end of elongate shaft 228. In some embodiments, image delivery mechanism 232 includes one or more wires, cables, optical fibers, and / or like. In some embodiments, elongate shaft 228 is hollow and image delivery mechanisms 232 pass along the inside of elongate shaft 228 from optical receiver 236 to imaging device housing 216. In some embodiments, image delivery mechanism 232 transmits power from power source 240 located in proximal end of imaging device 210 to the one or more optical receivers 236.

[0055] FIG. 3 is a simplified diagram of a computer-assisted system 300, according to some embodiments. As shown in FIG. 3, computer-assisted system 300 includes a device 310 with one or more repositionable structures (e.g., repositionable arms or manipulators) 320. Each of the one or more repositionable structures 320 can support one or more instruments or tools 330. In some examples, device 310 is consistent with a computer-assisted medical device. The one or more tools 330 can include tools, imaging devices, and / or the like. In some medical examples, the tools can include medical tools, such as clamps, grippers, retractors, cautery tools, suction tools, suturing devices, and / or the like. In some examples, the imaging devices include imaging device 210, endoscopes, cameras, ultrasonic devices, fluoroscopic devices, and / or the like. In some examples, each of the one or more tools 330 is inserted into a workspace (e.g., anatomy of a patient, a veterinary subject, and / or the like) through a respective cannula mounted to a respective one of the one or more repositionable structuresAtorney Docket No. P06983-WO:0139PC320. In some examples, a direction of view of an imaging device corresponds to an insertion axis of the imaging device and / or is at an angle relative to the insertion axis of the imaging device. In some embodiments, computer-assisted system 300 can be found in an operating room and / or an interventional suite.

[0056] Device 310 is coupled to a processing system 340 via an interface. The interface can include one or more cables, connectors, and / or buses and can further include one or more networks with one or more network switching and / or routing devices. Processing system 340 includes a processor 350 coupled to memory 360. Operation of processing system 340 is controlled by processor 350. And although processing system 340 is shown with only one processor 350, it is understood that processor 350 can be representative of one or more central processing units, multi-core processors, microprocessors, microcontrollers, digital signal processors, FPGAs, ASICs, GPUs, TPUs, and / or the like in processing system 340. Processing system 340 can be implemented as a stand-alone subsystem and / or as a board added to a computing device or as a virtual machine. In some embodiments, processing system 340 is an example of processing system 202.

[0057] Memory 360 can be used to store software executed by processing system 340 and / or one or more data structures used during operation of processing system 340. Memory 360 can include one or more types of machine readable media. Some common forms of machine readable media can include floppy disk, flexible disk, hard disk, magnetic tape, any other magnetic medium, CD-ROM, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, RAM, PROM, EPROM, FLASH-EPROM, any other memory chip or cartridge, and / or any other medium from which a processor or computer is adapted to read.

[0058] As shown, memory 360 includes an image processing module 380, and one or more images 390, that can be used to control, monitor, and / or provide properties associated with one of the one or more of tools 330 as is described in further detail below. In some examples, image processing module 380, and the one or more images can alternatively be stored in different memories, and / or associated with different processing systems. Further, even though image processing module 380 is characterized as a software module, image processing module 380 can be implemented using software, hardware, and / or a combination of hardware and software.Atorney Docket No. P06983-WO:0139PC

[0059] In some embodiments, image processing module 380 is responsible for managing an imaging device (e.g., imaging device 210) and / or an illumination source (e.g., illumination source 212) attached to or associated with of the one or more tools 330. In some embodiments, image processing module 380 can be responsible for identifying structures in the scene (e.g., identifying tumors and / or anatomical structures such as vasculature in some medical embodiments) making decisions such as capturing image from the scene or segmenting objects in the scene to visualize in display unit 204, and / or any other imaging processing task.

[0060] In some embodiments, the one or more images 390 include visual image data. In some examples, the one or more images 390 includes one or more still images, videos (e.g., a collection of still images in a sequence), and / or the like, which are captured by the one or more optical receivers 236(1 )-(2) attached and / or associated with the one or more tools 330 as was described in conjunction with FIG. 2.

[0061] In some embodiments, image processing module 380 is responsible for providing orientation hints and / or visual clues that can be output through an interface that informs an operator of an orientation of the one or more tools 330 and / or their respective imaging heads within a workspace using the one or more images 390. For example, image processing module 380 can provide an image, representation, and / or indication of a view of the one or more tools 330 and / or their respective imaging head within a workspace, which can be used with, prior to, and / or overlaid on the one or more images to provide the orientation hints. In some examples, image processing module 380 orients the view of an optical receiver attached to and / or associated with the one or more tools 330 relative to one or more axes of the workspace.

[0062] In some embodiments, image processing module 380 can also provide video stabilization to the one or more images constituting a video during use and / or movement of the one or more tools 330 and their respective imaging heads. For example, image processing module 380 can fix relative points within a workspace to relative locations within an interface during the use and / or movement of the one or more tools 330 and / or their respective imaging heads. Thus, image processing module 380 can apply one or more image / video stabilization algorithms utilizing the fixed points to adjust for the use and / or movement of the one or more tools 330 and / or their respective imaging heads and / or other destabilizing events from the workspace. For example, fixed points in tissue of a patient can be relatively fixed to locations within an interface to provide for such image / video stabilization during use and / or movement of the one or more tools 330 and / or their respective imaging heads.Atorney Docket No. P06983-WO:0139PC

[0063] As discussed above and further emphasized here, FIG. 3 is merely an example which should not unduly limit the scope of the claims. One of ordinary skill in the art would recognize many variations, alternatives, and modifications. According to some embodiments, computer-assisted system 300 can include any number of computer-assisted devices with repositionable structures and / or instruments of similar and / or different in design from computer-assisted device 310. In some examples, each of the computer-assisted devices can include fewer or more repositionable structures and / or instruments.

[0064] According to some embodiments, the arrangement of image processing module 380, and / or the one or more images 390 can be different than as depicted in FIG. 3. In some examples, image processing module 380, and / or the one or more images 390 can be distributed across more than one processing system. In some examples, image processing module 380 can be included in a single processing system. In some examples, the one or more images 390 can be managed by image processing module 380.

[0065] FIG. 4 is a simplified diagram of an imaging system 400 with an alternative illumination source location, according to some embodiments. As shown, similar to imaging system 200, imaging system 400 includes, without limitation, a processing system 202, a display unit 204, a cable 206, a first housing 208, and an imaging device 410. Imaging device 410 includes, without limitation, an imaging device housing 216, an elongate shaft 228, and an imaging head 238. Located within or on imaging device housing 216 are, without limitation, an illumination source 404, a lens 406, a power source 240, an optional display 218, an optional status indicator, and one or more optional input devices 222, 224, 226. For the sake of brevity, elements depicted in FIG. 4 having a same reference numbers as corresponding elements depicted in FIG. 2 are not described in further detail below, and it is understood that the features and capabilities of those elements in FIG. 4 are substantially the same as those of the corresponding elements in FIG. 2.

[0066] Illumination source 404, which is an example of illumination source 102 is located within imaging device housing 216. Illumination source 404 generates the illumination light used to illuminate the workspace into which imaging device 410 is inserted. Illumination source 404 is used to provide sufficient light, to allow the one or more optical receivers 236 to capture images of the workspace. Illumination source 404 can generate any kind of light, such as visible light and / or non-visible light. In some embodiments, illumination source 404 includes one or more LEDs, laser diodes, and / or the like.Atorney Docket No. P06983-WO:0139PC

[0067] In some embodiments, illumination source 404 can be a combination of two or more illumination sources. For example, multiple illumination sources, each with a corresponding one or more lenses that further direct the light to one or more mirrors that further direct and / or blend the light and then provide the blended light to the one or more optical fibers such as the one or more optical fibers 230. However, FIG. 4 depicts one illumination source 404 located in imaging device housing 216, one of ordinary skill would understand that different imaging systems 400 with different illumination sources are possible and can be consistent with the embodiments of imaging system 400 as described elsewhere herein. An example of an illumination system with three illumination sources is described in more detail in conjunction with FIG. 8.

[0068] Lens 406 located within imaging device housing 216 receives the illumination light from illumination source 404. Lens 406 then refracts the illumination light from illumination source 404 to focus or direct the illumination light in a controlled manner. For example, lens 406 can include a collimating lens or lenses that direct the illumination light into the distal end of the one or more optical fibers 230. As another example, lens 406 can include one or more sapphire windows. Lens 406 can further include both spherical and aspherical elements to reduce aberrations for applications with sharp focus and high resolution. The design of lens 406 can support a wide field of view and can be used with any kind of light, such as visible light and / or non-visible light. In some embodiments that multiple illumination sources such as illumination source 404 are used, each illumination source 404 can be coupled with one or more lenses 406.

[0069] FIG. 5 is a simplified diagram of an imaging system 500 with another alternative illumination source location, according to some embodiments. As shown, similar to imaging system 200, imaging system 500 includes, without limitation, a workstation 502, a cable 507, first housing 208, and imaging device 210. Imaging device 210 includes, without limitation, imaging device housing 216, elongate shaft 228, and imaging head 238. Workstation 502 includes, without limitation, processing system 202, display unit 204, an illumination source 504, and one or more lenses 506. Cable 507 includes, without limitation, one or more optical fibers 508. Elongate shaft 228 includes, without limitation, one or more optical fibers 230. Located within or on imaging head 238 is, without limitation, one or more optical receivers 236( 1 )-(2) and diffuser 234. For the sake of brevity, elements depicted in FIG. 5 having a same reference numbers as corresponding elements depicted in FIG. 2 are not described inAtorney Docket No. P06983-WO:0139PCfurther detail below, and it is understood that the features and capabilities of those elements in FIG. 5 are substantially the same as those of the corresponding elements in FIG. 2.

[0070] Workstation 502 can be a desktop computer, a laptop computer, or any other type of computing device configured to receive input, process data, and is suitable for practicing one or more embodiments of the present disclosure. Workstation 502 described herein is illustrative and that any other technically feasible configurations fall within the scope of the present disclosure. Workstation 502.

[0071] Illumination source 504, which is an example of illumination source 102 is located within workstation 502. Illumination source 504 generates the illumination light used to illuminate the workspace into which imaging device 210 is inserted. Illumination source 504 is used to provide sufficient light, to allow the one or more optical receivers to capture images of the workspace. Illumination source 504 can generate any kind of light, such as visible light and / or non-visible light. In some embodiments, illumination source 504 includes one or more LEDs, laser diodes, and / or the like.

[0072] In some embodiments, illumination source 504 can be a combination of two or more illumination sources. For example, multiple illumination sources, each with a corresponding one or more lenses that further direct the light to one or more mirrors that further direct and / or blend the light and then provide the blended light to the one or more optical fibers such as the one or more optical fibers 508 that extend from a proximal end of cable 507 to a distal end of cable 507. However, although FIG. 5 depicts one illumination source 504 located in workstation 502, one of ordinary skill would understand that different imaging systems 500 with different illumination sources are possible and can be consistent with the embodiments of imaging system 500 as described elsewhere herein. An example of an illumination system with three illumination sources is described in more detail in conjunction with FIG. 8.

[0073] Lens 506 located within workstation 502 receives the illumination light from illumination source 504. Lens 506 then refracts the illumination light from illumination source 504 to focus or direct the illumination light in a controlled manner. For example, lens 506 can include a collimating lens or lenses that direct the illumination light into the distal end of the one or more optical fibers 230. As another example, lens 506 can include one or more sapphire windows. Lens 506 can further include both spherical and aspherical elements to reduce aberrations for applications with sharp focus and high resolution. The design of lens 506 canAtorney Docket No. P06983-WO:0139PCsupport a wide field of view and can be used with any kind of light, such as visible light and / or non-visible light. In some embodiments that multiple illumination sources such as illumination source 504 are used, each illumination source 504 can be coupled with one or more lenses 506.

[0074] Although not shown, one or more lenses and / or sapphire windows can be used to couple light from the one or more optical fibers 508 to the one or more optical fibers 230 using a technique similar to that discussed for coupling light between illumination source 212 and the one or more optical fiber 230 as discussed in Fig. 2. In alternative embodiments where cable 507 is an integral portion of imaging device 210, the one or more optical fibers 230 extend from imaging head 238 to the proximal end of cable 507 and the separate one or more optical fibers 508 are omitted.

[0075] FIG. 6 is a simplified diagram of a mounted imaging device, according to some embodiments. As shown in FIG. 6, an imaging device (e.g., imaging device 210) is mounted to an instrument (or tool) mount of repositionable structure 320. Instrument mount 630 includes, without limitation, an illumination source 602 and one or more lenses 604. For the sake of brevity, elements depicted in FIG. 6 having a same reference numbers as corresponding elements depicted in FIGs. 2 and 3 are not described in further detail below, and it is understood that the features and capabilities of those elements in FIG. 6 are substantially the same as those of the corresponding elements in FIGs. 2 and 3.

[0076] Instrument mount 630 is an example of a mounting apparatus that is located near a distal end of repositionable structure 320. As shown, imaging device housing 216 is mounted to instrument mount 630, however, instrument mount 630 can be general purpose and can be configured to act as a mount for any of the one or more instruments or tools 330. While imaging device housing 216 is mounted to instrument mount 630, imaging device 210 can be positioned and / or oriented using repositionable structure 320 to control which portion of a workspace is being illuminated by illumination source 620 and from which one or more images are captured. Instrument mount 630 is configured so that when imaging device housing is mounted to instrument mount 630, illumination light generated by illumination source 602 and passed through the one or more lenses 604 is aligned with the proximal end of the one or more optical fibers 230 of imaging device 210 (not shown in FIG. 6).

[0077] Illumination source 602, which is an example of illumination source 102, is located within instrument mount 630. Illumination source 602 generates the illumination light used toAtorney Docket No. P06983-WO:0139PCilluminate the workspace into which imaging device 210 is inserted. Illumination source 602 is used to provide sufficient light, to allow the one or more optical receivers to capture images of the workspace. Illumination source 602 can generate any kind of light, such as visible light and / or non-visible light. In some embodiments, illumination source 602 includes one or more LEDs, laser diodes, and / or the like.

[0078] In some embodiments, illumination source 602 can be a combination of two or more illumination sources. For example, multiple illumination sources, each with a corresponding one or more lenses that further direct the light to one or more mirrors that further direct and / or blend the light and then provide the blended light to the one or more optical fibers such as the one or more optical fibers 230 that extend from distal end instrument mount 630 to distal end imaging device housing 216. However, FIG. 6 depicts one illumination source 602 located in instrument mount 630, one of ordinary skill would understand that different mounting systems 600 with different illumination sources are possible and can be consistent with the embodiments of mounting system 600 as described elsewhere herein. An example of an illumination system with three illumination sources is described in more detail in conjunction with FIG. 8.

[0079] Lens 604 located within instrument mount 630 receives the illumination light from illumination source 602. Lens 604 then refracts the illumination light from illumination source 602 to focus or direct the illumination light in a controlled manner. For example, lens 604 can include a collimating lens or lenses that direct the illumination light into the proximal end of the one or more optical fibers 230. As another example, lens 604 can include one or more sapphire windows. Lens 604 can further include both spherical and aspherical elements to reduce aberrations for applications with sharp focus and high resolution. The design of lens 604 can support a wide field of view and can be used with any kind of light, such as visible light and / or non-visible light. In some embodiments that multiple illumination sources such as illumination source 602 are used, each illumination source 602 can be coupled with one or more lenses 604.

[0080] Although not shown, one or more lenses and / or sapphire windows can be used to couple light from illumination source 602 to the one or more optical fibers 230 within imaging device housing 216 using a technique similar to that discussed for coupling light between illumination source 212 and the one or more optical fiber 230 as discussed in Fig. 2.Atorney Docket No. P06983-WO:0139PC

[0081] FIG. 7 is a simplified diagram of a mounted imaging device with an alternative illumination source location, according to some embodiments. As shown, an imaging device (e.g., imaging device 210) is mounted to an instrument (or tool) mount of repositionable structure 320. Repositionable structure 720 includes, without limitation, an illumination source 702, one or more lenses 704, one or more optical fibers 706, and an instrument mount 730. For the sake of brevity, elements depicted in FIG. 7 having a same reference numbers as corresponding elements depicted in FIG. 2 and 3 are not described in further detail below, and it is understood that the features and capabilities of those elements in FIG. 7 are substantially the same as those of the corresponding elements in FIGs. 2 and 3.

[0082] Repositionable structure 720 is substantially the same as repositionable structure 320 except for the inclusion of illumination source 702, the one or more lenses 704, and the one or more optical fibers 706, as well as instrument mount 730 through which the one or more optical fibers 706are passed.

[0083] Instrument mount 730 is an example of a mounting apparatus that is located near a distal end of repositionable structure 720. As shown, imaging device housing 216 is mounted to instrument mount 730, however, instrument mount 730 can be general purpose and can be configured to act as a mount for any of the one or more instruments or tools 330. While imaging device housing 216 is mounted to instrument mount 730, imaging device 210 can be positioned and / or oriented using repositionable structure 720 to control which portion of a workspace is being illuminated by illumination source 702 and from which one or more images are captured. Instrument mount 730 is configured so that when imaging device housing is mounted to instrument mount 730, illumination light generated by illumination source 702 and passed through the one or more optical fibers 706 is aligned with the proximal end of the one or more optical fibers 230 of imaging device 210 (not shown in FIG. 7).

[0084] Illumination source 702, which is an example of illumination source 102 is located within repositionable structure 720. Illumination source 702 generates the illumination light used to illuminate the workspace into which imaging device 210 is inserted. Illumination source 702 is used to provide sufficient light, to allow the one or more optical receivers to capture images of the workspace. Illumination source 702 can generate any kind of light, such as visible light and / or non-visible light. In some embodiments, illumination source 702 includes one or more LEDs, laser diodes, and / or the like.Atorney Docket No. P06983-WO:0139PC

[0085] In some embodiments, illumination source 702 can be a combination of two or more illumination sources. For example, multiple illumination sources or more, each with a corresponding one or more lenses that further direct the light to one or more mirrors that further direct and / or blend the light and then provide the blended light to the one or more optical fibers such as the one or more optical fibers 706 and the one or more optical fibers 708 that extend from distal end repositionable structure 720 to proximal end imaging device housing 216. However, FIG. 7 depicts one illumination source 702 located in repositionable structure 720, one of ordinary skill would understand that different mounting systems 700 with different illumination sources are possible and can be consistent with the embodiments of mounting system 700 as described elsewhere herein. An example of an illumination system with three illumination sources is described in more detail in conjunction with FIG. 8.

[0086] Lens 704 located within repositionable structure 720 receives the illumination light from illumination source 702. Lens 704 then refracts the illumination light from illumination source 702 to focus or direct the illumination light in a controlled manner. For example, lens 704 can include a collimating lens or lenses that direct the illumination light into the distal end of the one or more optical fibers 706. As another example, lens 704 can include one or more sapphire windows. Lens 704 can further include both spherical and aspherical elements to reduce aberrations for applications with sharp focus and high resolution. The design of lens 704 can support a wide field of view and can be used with any kind of light, such as visible light and / or non-visible light. In some embodiments that multiple illumination sources such as illumination source 702 are used, each illumination source 702 can be coupled with one or more lenses 704.

[0087] Although not shown, one or more lenses and / or sapphire windows can be used to couple light from the one or more optical fibers 706 to the proximal end of the one or more optical fibers 230 within imaging device 210 using a technique similar to that discussed for coupling light between illumination source 212 and the one or more optical fiber 230 as discussed in Fig. 2.

[0088] FIG. 8 illustrates an exemplary illumination source 800 with three illumination generating elements, according to some embodiments. As shown, illumination source 800 includes, without limitation, three illumination sources 802( 1 )-(3), three lenses 804( 1 )-(3), two transmissive mirrors 806(l)-806(2), and one or more optical fibers 230.Atorney Docket No. P06983-WO:0139PC

[0089] The three illumination sources 802(l)-(3) are examples of illumination source 102 and can be located within first housing 208, imaging device housing 216, workstation 502, instrument mount 630, or repositionable structure 720. The three illumination sources 802(1)-(3) can be the source of illumination used to illuminate the workspace into which imaging device 210 is inserted. This illumination is used to provide sufficient light to allow the one or more optical receivers 236 to capture images of the workspace. The three illumination sources 802(l)-(3) can generate any kind of light, such as visible light and / or non-visible light. In some embodiments, the three illumination sources 802(l)-(3) include one or more LEDs, laser diodes, and / or the like. As shown, the three illumination sources 802(l)-(3) can be a combination of three illumination sources, each with a corresponding one or more lenses that further direct the light to one or more mirrors that further direct and / or blend the light and then provide the blended light to the one or more optical fibers such as the one or more optical fibers 230. For example, three illumination sources can be blue, red, and green LEDs that when combined produce a white light.

[0090] The three lenses 804(l)-(3) receive the illumination light from the three illumination sources 802(l)-(3). The three lenses 804(l)-(3) then refract the illumination light from the three illumination sources 802(l)-(3) to focus or direct the illumination light in a controlled manner. More specifically, lens 804(1) and lens 804(2) direct the illumination light from illumination sources 802(1 )-(2), respectively, towards mirror 806(1). Mirror 806(1) allows illumination light from illumination source 802(2) to pass through and blend with the light from illumination source 802(1). Mirror 806(1) directs the blended light towards mirror 806(2). Similarly lens 804(3) directs illumination light from illumination source 802(3) towards mirror 806(2). Mirror 806(2) allows blended light from mirror 806(1) to pass through and blend with the light from illumination source 802(3). Mirror 806(2) directs the blended light from three illumination sources 802(l)-(3) towards the proximal end of the one or more optical fibers 230.

[0091] The three lenses 804(l)-(3) can include collimating lens or lenses with one or more sapphire windows. The three lenses 804(l)-(3) can further include both spherical and / or aspherical elements to reduce aberrations for applications with sharp focus and high resolution. The design of the three lenses 804(l)-(3) can be used with any kind of light, such as visible light and / or non-visible light.

[0092] As discussed above and further emphasized here, Figure 8 is merely an example which should not unduly limit the scope of the claims. One of ordinary skill in the art wouldAtorney Docket No. P06983-WO:0139PCrecognize many variations, alternatives, and modifications. In some embodiments, illumination source 800 includes one or more additional light sources other than illumination sources 802(l)-(3). For example, illumination source 800 could further include up to five illumination sources (e.g., two different red illumination sources, two different green illumination sources, and one blue illumination source) or more in the visible light spectrum and an infrared illumination source that is combined with the light from illumination sources 802(l)-(3) through any suitable arrangement of one or more additional lenses and / or one or more additional mirrors.

[0093] FIGs 9A and 9B are more detailed illustrations of the imaging head elements of FIG. 2, according to some embodiments. For the sake of brevity, elements depicted in FIGs.9 A and 9B having a same reference numbers as corresponding elements depicted in FIGS. 2 and 4 are not described in further detail below, and it is understood that the features and capabilities of those elements in FIGs. 9A and 9B are substantially the same as those of the corresponding elements in FIGS. 2 and 4.

[0094] FIG. 9A displays a simplified illustration of a front view of imaging head 238, according to some embodiments. FIG. 9A depicts, without limitation, imaging head 238, the one or more optical fibers 230, a diffuser 234, and two optical receivers 236(l)-(2). As shown, optical fiber 230 and diffuser 234 are located proximate to and slightly below the two optical receivers 236(l)-(2). However, it is understood that this arrangement is only an example, and other configurations are possible. For example, optical fiber 230 and diffuser 234 could be above or between optical receivers 236(l)-(2). Optical receiver 236(1) captures right images and optical receiver 236(2) captures left images in a stereoscopic manner. However, in other embodiments, imaging head 238 could include a single monoscopic optical receiver 236 or more than two optical receivers 236.

[0095] FIG. 9B displays a simplified illustration of a top view of imaging head 238 and part of elongate shaft 228, according to some embodiments. FIG. 9B depicts without limitation, two optical receivers 236(l)-(2), an elongate shaft 228, and two image delivery mechanisms 232(l)-(2). As shown, the two optical receivers 236(l)-(2) are located at the distal end of elongate shaft 228 and the two image delivery mechanisms 232(l)-(2) extend from distal end of elongate shaft 228 to the proximal end of elongate shaft 228. Optical receiver 236(1) captures right images and image delivery mechanism 232(1) transmits right images to imaging device housing 216. Similarly, optical receiver 236(2) captures left images in a stereoscopic manner and image delivery mechanism 232(2) transmits left images to imagingAtorney Docket No. P06983-WO:0139PCdevice housing 216. In some embodiments, power source 240 can supply power to optical receivers 236(l)-(2) through one or more delivery mechanisms 232(l)-(2). In some embodiments, optical receivers 236(l)-(2) can be one or more lenses coupled with one or more optical fibers that transmit the reflected light from the workspace to the proximal end of imaging device 210. In other embodiments, optical receivers 236(l)-(2) can share one or more delivery mechanisms 232(l)-(2) to transmit the reflected light or captured image to the proximal end of imaging device 210.

[0096] FIGs. 9C, 9D and 9E are more detailed illustrations of the light projected by the imaging device of FIG. 2, according to some embodiments. For the sake of brevity, elements depicted in FIGs. 9C-9E having the same reference numbers as corresponding elements depicted in FIGS. 2 and 4 are not described in further detail below, and it is understood that the features and capabilities of those elements in FIGs. 9C-9E are substantially the same as those of the corresponding elements in FIGs. 2 and 4.

[0097] FIG. 9C is a simplified illustration of a side view of optical fiber 230 coupled with diffuser 234, according to some embodiments. FIG. 9C depicts, without limitation, an optical fiber 230, diffuser 234 and a light projection 902. As described in FIGs. 2 and 4, diffuser 234 is located at distal end of optical fiber 230. As shown, diffuser 234 scatters and spreads light to generate light projection 902. The scattering of the light using diffuser 234 increases the NA of the light delivered to the workspace in order to illuminate a wider area within the workspace. Although not shown, diffuser 234 can also alter the spectrum of the light delivered to the workspace.

[0098] FIG. 9D is a simplified illustration of an isometric view of a light projection 904, according to some embodiments. Light projection 904 is an example of light projection 902 generated by diffuser 234 with a round shape. The characteristics of diffuser 234 can change the size of the illumination area. As shown, diffuser 234 is used to convert the round aperture of the one or more optical fibers 230 to a larger round illumination area. The larger round illumination area can have a NA based on a width of a field of view of the one or more optical receivers 236.

[0099] FIG. 9E is a simplified illustration of an isometric view of a light projection 906, according to some embodiments. Light projection 906 is another example of light projection 902 generated by diffuser 234 and having a rectangular shape. The shape and characteristics of diffuser 234 can change the shape of the illumination area. As shown, diffuser 234 is used toAtorney Docket No. P06983-WO:0139PCconvert the round aperture of the one or more optical fibers 230 to a square illumination area. The rectangular illumination area can have, as an example, a 5:4 aspect ratio based on the shape of images captured by the one or more optical receivers 236.

[0100] FIG. 10 is a flow diagram of method steps for utilizing the imaging device 210 of FIG. 2, according to some embodiments. Although the method steps are described in conjunction with the systems of FIGs. 1-9, persons skilled in the art will understand that any system configured to perform the method steps in any order falls within the scope of the present embodiments. For example, steps 1006 can be performed before step 1004 or concurrently with step 1006. Additionally, steps 1008 to 1012 can be repeated to assist an operator or a control unit to monitor which portions of the workspace are being imaged and / or to assist the operator or the control unit in positioning and / or orienting imaging device 210 and / or one or more optical receivers 236(1 )-(2).

[0101] As shown, a method 1000 begins at step 1002, where an operator can configure the imaging device 210. The operator can configure the handheld imaging device 210 using one or more of input devices 222, 224, and 226. For example, one or more of input device 222, 224, and / or 226 can be used to turn power on or off for imaging device 210. For example, the user can configure imaging device 210 by navigating through one or more user interface elements (e.g., menus) displayed on display 218, selecting options displayed on display 218, and / or the like. As another example, one or more of input devices 222, 224, and 226 can be used to turn on / off the illumination source or alter the illumination source spectrum. Although FIG. 2 depicts three input devices 222, 224, and 226, fewer or more input devices can be located on imaging device housing 216.

[0102] At step 1004, imaging device 210 is inserted into a workspace. Depending upon the particular procedure for which the imaging device 210 is being used, the operator can insert elongate shaft 228 through an opening (e.g., an access port, a body incision, a natural orifice, a cannula, a guide tube, and / or the like) in order to place imaging head 238 in proximity to a workspace of interest. In some embodiments, an operator inserts imaging device 210 into a workspace and manually controls the position of imaging head 238 by observing the objects in the workspace in a display such as display unit 204 and / or display 218. In other embodiments, the one or more repositionable structures 320 are used to position and / or orient imaging device 210.Atorney Docket No. P06983-WO:0139PC

[0103] At step 1006, illumination light is emitted. The illumination light can be provided to a workspace at or nearby the distal end of imaging device 210 where imaging head 238 is currently operating within a workspace. The illumination is used to provide sufficient light to allow the one or more optical receivers 236 to capture images of the workspace. In some medical examples, imaging head 238 is part of an endoscope inserted into a patient. Thus, illumination light can be provided to the tissue of the patient that is proximate to imaging head 238.

[0104] The illumination light can be provided by illumination source 102, illumination source 212 located within first housing 208, illumination source 404 within imaging device housing 216, illumination source 504 located at workstation 502, illumination source 602 located within instrument mount 630, illumination source 702 located within repositionable structure 720 and / or illumination source 800. Lens 214 located within first housing 208, lens 406 located within imaging device housing 216, or lens 506 located within workstation 502 receives the illumination light from illumination source 212, 404, or 504, respectively. Lens 214, 406, or 506 then refracts the illumination light from illumination source 212,404, or 504 to focus or direct the illumination light in a controlled manner towards one or more optical fibers 230 of imaging device 210.

[0105] Illumination sources 102, 212, 404, 504, 602, 702 and / or 800 can generate any kind of light, such as visible light and / or non-visible light. The visible light can include light in a limited spectrum (e.g., blue light with a wavelength between 405 and 450 nm), multi-spectrum light (e.g., white light, red-green-blue light, and / or the like). The non-visible light can include infrared light and / or the like, which can be used for fluorescence imaging within the workspace, infrared imaging, and / or the like.

[0106] In some embodiments, illumination source 102, 212, 404, 504, 602, 702 and / or 800 can be a combination of two or more illumination sources. In some examples, a combination of illumination sources includes illumination sources with different light spectrums, such as different portions of the visible light spectrum and / or the IR light spectrum. In some embodiments, illumination light can be guided by, such as one or more optical fibers 230, from the illumination source to imaging head 238 at the distal end of imaging device 210.

[0107] Diffuser 234 located at distal end of optical fiber 230 scatters and spreads the illumination light to change the size and shape of the illumination area of the illumination light delivered to the workspace. For example, diffuser 234 scatters the illumination light to widenAtorney Docket No. P06983-WO:0139PCthe illumination area of the illumination light delivered to the workspace. As another example, diffuser 234 converts the round aperture of optical fiber 230 to a rectangular illumination area. Diffuser 234 can also alter the spectrum of the illuminating light delivered to the workspace. For example, a yellow phosphor or quantum dot materials used in diffuser 234 can convert the spectrum of blue light to white light.

[0108] At step 1008, imaging device 210 captures one or more images. Image capture can be performed by imaging device 210, which can be controlled by an operator or an image control module, such as processing system 202 and / or image processing module 380. For example, one or more of input devices 222, 224, and / or 226 can be used by the operator to turn on or off image capture using imaging device 210 and / or capture a still image using imaging device 210.

[0109] Optical receivers 236(l)-(2) located in imaging head 238, at the distal end of elongate shaft 228 capture one or more images after receiving the reflected light from the workspace. In some embodiments, the one or more optical receivers 236 include one or more optical lenses and / or other optical components (not shown). In some embodiments, the one or more optical receivers 236 do not include optical receivers and instead couple imaging light to one or more optical fibers as part of image delivery mechanism 232 for delivering to one or more optical sensors located elsewhere in imaging device 210, such as within imaging device housing 216. In some embodiments, the one or more optical receivers 236 include one or more optical lenses and / or other optical components.

[0110] At step 1010, imaging device 210 sends the one or more images to display 218 and / or processing system 202. Image delivery mechanism 232 transmits the images and / or data corresponding to images captured by the one or more optical receivers 236 to components within imaging device housing 216 and then through cable 206 to processing system 202.[OHl] At step 1012, the one or more captured images are displayed or processed. In some embodiments, display 218 can be used to display one or more images captured by one or more optical receivers 236(l)-(2). In such cases, the displayed one or more images can assist an operator to monitor which portions of the workspace are being imaged and / or to assist the operator in positioning and / or orienting imaging device 210 and / or one or more optical receivers 236(l)-(2). In some embodiments, processing system 202 also processes images generated by the one or more optical receivers 236(l)-(2). Processing system 202 then sends processed images generated by imaging device 210 to display unit 204 where the processedAtorney Docket No. P06983-WO:0139PCimages can be displayed in real-time or offline to an operator. Processed images can also be stored in memory, cache or any data storage for further use.

[0112] Any and all combinations of any of the claim elements recited in any of the claims and / or any elements described in this application, in any fashion, fall within the contemplated scope of the present disclosure and protection.

[0113] The descriptions of the various embodiments have been presented for purposes of illustration, but are not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.

[0114] In sum, techniques that provide light to illuminate an interior workspace when using an imaging device, such as an endoscope are provided. The techniques include moving the light source closer to the imaging device. Moving the light source includes installing the light source at the proximal end of the imaging device, such as at the distal end of a cable coupling the imaging device to a power supply or image processing system or in a housing located at a proximal end of the imaging device. Light from the light source is coupled to the proximal end of one or more low numerical aperture optical fibers that transmit the light to a distal end of the imaging device, such as where one or more optical receivers of the imaging device are located. A diffuser at the distal end of the one or more optical fibers is used to convert the low numerical aperture of the one or more optical fibers to a wider aperture that matches or exceeds the angular width of the field of view of the one or more optical receivers so that illumination is provided to the portions of a workspace for which the one or more optical receivers capture images. The diffuser can also alter a spectrum of the emitted light or change a shape of the emitted light. For example, when a blue laser is used as the light source, the diffuser can alter the spectrum of the blue laser light to generate a white light.

[0115] At least one technical advantage of the disclosed techniques relative to the prior art is that the disclosed techniques increase the efficiency of light transmission from 1-2% in existing systems to 50% or higher. Another technical advantage of the disclosed techniques is that with the disclosed techniques, optical fibers with smaller NA can be used. This advantageously allows the imaging device to use smaller light sources, less power, and less expensive materials. These technical advantages represent one or more technological improvements over prior art approaches.Atorney Docket No. P06983-WO:0139PC

[0116] Aspects of the present embodiments may be embodied as a system, method or computer program product. Accordingly, aspects of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a “module” or “system.” Furthermore, aspects of the present disclosure may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon.

[0117] Any combination of one or more computer readable medium(s) may be utilized. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0118] Aspects of the present disclosure are described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine. The instructions, when executed via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / acts specified in the flowchart and / or block diagram block or blocks. Such processors may be,Attorney Docket No. P06983-WO:0139PCwithout limitation, general purpose processors, special-purpose processors, applicationspecific processors, or field-programmable gate arrays.

[0119] The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustration, and combinations of blocks in the block diagrams and / or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

[0120] While the preceding is directed to embodiments of the present disclosure, other and further embodiments of the disclosure may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.

Claims

Atorney Docket No. P06983-WO:0139PCWHAT IS CLAIMED IS:

1. An imaging device comprising:an elongate shaft including a proximal end and a distal end;one or more optical receivers;one or more optical fibers extending from the distal end of the shaft to at least the proximal end of the shaft; anda diffuser located at a distal end of the one or more optical fibers;wherein a proximal end of the one or more optical fibers is configured to be coupled to an illumination source.

2. The imaging device of claim 1, wherein the illumination source is located in a housing near a proximal end of the imaging device.

3. The imaging device of claim 1, wherein the illumination source is located separate from the imaging device.

4. The imaging device of claim 3, wherein the illumination source is located in a cable coupled to the imaging device, a workstation, an instrument mount to which the imaging device is mounted, or a repositionable structure usable to position or orient the imaging device.

5. The imaging device of claim 1, wherein the illumination source comprises a blue LED or a blue laser.

6. The imaging device of claim 5, wherein a wavelength of the blue LED or the blue laser is in a range from 405 nm to 450 nm.

7. The imaging device of claim 1, wherein the illumination source generates white or red-green-blue light.

8. The imaging device of claim 1, wherein the illumination source comprises two or more illumination generating elements combined using one or more lenses and one or more mirrors.Atorney Docket No. P06983-WO:0139PC9. The imaging device of claim 8, wherein the two more illumination generating elements include a red illumination source, a blue illumination source, and a green illumination source.

10. The imaging device of claim 8, wherein the two or more illumination generating elements include a red illumination source, a blue illumination source, a green illumination source, and an infrared illumination source.

11. The imaging device of claim 8, wherein the two or more illumination generating elements include two red illumination sources, two green illumination sources, a blue illumination source, and an infrared illumination source.

12. The imaging device of any one of claims 1 to 11, wherein illumination generated by the illumination source supports fluorescence imaging.

13. The imaging device of any one of claims 1 to 11, wherein illumination generated by the illumination source includes infrared light.

14. The imaging device of any one of claims 1 to 11, wherein the diffuser is configured to widen a numerical aperture of light transmitted using the one or more optical fibers, wherein illumination provided to a workspace has a first numerical aperture.

15. The imaging device of claim 14, wherein the first numerical aperture is at least 0.65.

16. The imaging device of claim 14, wherein the first numerical aperture is based on a width of a field of view of the one or more optical receivers.

17. The imaging device of any one of claims 1 to 11, wherein the diffuser converts light transmitted using the one or more optical fibers to illumination having a rectangular shape.

18. The imaging device of claim 17, wherein the rectangular shape has 5:4 aspect ratio.Atorney Docket No. P06983-WO:0139PC19. The imaging device of any one of claims 1 to 11, wherein the diffuser alters a first spectrum of light transmitted by the one or more optical fibers to provide illumination having a second spectrum to a workspace.

20. The imaging device of claim 19, wherein:the first spectrum of blue light; andthe second spectrum of the illumination is white light.

21. The imaging device of claim 19, wherein the diffuser comprises a yellow phosphor or a quantum dot material.

22. The imaging device of any one of claims 1 to 11, wherein light from the illumination source is coupled to the one or more optical fibers using one or more lenses or one or more sapphire windows.

23. The imaging device of any one of claims 1 to 11, wherein power is provided to the imaging device inductively from a cable connected to the imaging device or from one or more batteries included in the housing.

24. The imaging device of any one of claims 1 to 11, wherein each of the one or more optical fibers have a numerical aperture of 0.25 of less.

25. The imaging device of any one of claims 1 to 11, wherein each of the one or more optical fibers have a core at least 10 pm in diameter.

26. The imaging device of any one of claims 1 to 11, wherein the one or more optical receivers are positioned near the distal end of the shaft.

27. The imaging device of any one of claims 1 to 11, further comprising one or more optical sensors for converting light from the one or more optical receivers to images.

28. The imaging device of claim 27, wherein the one or more optical sensors are located proximate to the one or more optical receivers.Atorney Docket No. P06983-WO:0139PC29. The imaging device of claim 27, wherein the one or more optical sensors are located in a housing near a proximal end of the imaging device.

30. The imaging device of any one of claims 1 to 11, wherein a diameter of the shaft is 12 mm or less.

31. The imaging device of any one of claims 1 to 11, wherein the imaging device is handheld.

32. The imaging device of any one of claims 1 to 11, wherein the imaging device is configured to be mounted to a repositionable structure.

33. The imaging device of any one of claims 1 to 11, wherein the imaging device is configured to be introduced into a workspace through a cannula or a guide tube.

34. The imaging device of any one of claims 1 to 11, wherein the imaging device is a stereoscopic endoscope.

35. The imaging device of any one of claims 1 to 11, wherein the imaging device comprises one or more elements selected from the group consisting of a display, a status indicator, and an input device.

36. The imaging device of any one of claims 1 to 11, wherein the imaging device is configured to be coupled to a processing system via a cable.

37. An imaging system comprising:a processing system;a cable; andan imaging device comprising:an elongate shaft including a proximal end and a distal end;one or more optical receivers;one or more optical fibers extending from the distal end of the shaft to at least the proximal end of the shaft; andAtorney Docket No. P06983-WO:0139PCa diffuser located at a distal end of the one or more optical fibers; wherein:the cable couples the processing system and the imaging device; and a proximal end of the one or more optical fibers is configured to be coupled to an illumination source.

38. The imaging system of claim 37, wherein the illumination source is located in a housing near a proximal end of the imaging device.

39. The imaging system of claim 37, wherein the illumination source is located separate from the imaging device.

40. The imaging system of claim 39, wherein the illumination source is located in a cable coupled to the imaging device, a workstation, an instrument mount to which the imaging device is mounted, or a repositionable structure usable to position or orient the imaging device.

41. The imaging system of claim 37, wherein the illumination source comprises a blue LED or a blue laser.

42. The imaging system of claim 41, wherein a wavelength of the blue LED or the blue laser is in a range from 405 nm to 450 nm.

43. The imaging system of claim 37, wherein the illumination source generates white or red-green-blue light.

44. The imaging system of claim 37, wherein the illumination source comprises two or more illumination generating elements combined using one or more lenses and one or more mirrors.

45. The imaging system of any one of claims 37 to 44, wherein illumination generated by the illumination source supports fluorescence imaging.Atorney Docket No. P06983-WO:0139PC46. The imaging system of any one of claims 37 to 44, wherein illumination generated by the illumination source includes infrared light.

47. The imaging system of any one of claims 37 to 44, wherein the diffuser is configured to widen a numerical aperture of light transmitted using the one or more optical fibers, wherein illumination provided to a workspace has a first numerical aperture.

48. The imaging system of claim 47, wherein the first numerical aperture is based on a width of a field of view of the one or more optical receivers.

49. The imaging system of any one of claims 37 to 44, wherein the diffuser converts light transmitted using the one or more optical fibers to illumination having a rectangular shape.

50. The imaging system of any one of claims 37 to 44, wherein the diffuser alters a first spectrum of light transmitted by the one or more optical fibers to provide illumination having a second spectrum to a workspace.

51. The imaging system of claim 50, wherein:the first spectrum of blue light; andthe second spectrum of the illumination is white light.

52. The imaging system of any one of claims 37 to 44, wherein the imaging device is handheld.

53. The imaging system of any one of claims 37 to 44, wherein the imaging device is configured to be mounted to a repositionable structure.

54. The imaging system of any one of claims 37 to 44, wherein the imaging device is configured to be introduced into a workspace through a cannula or a guide tube.

55. The imaging system of any one of claims 37 to 44, wherein the imaging device is a stereoscopic endoscope.Atorney Docket No. P06983-WO:0139PC56. The imaging system of any one of claims 37 to 44, wherein the processing system performs one or more image processing algorithms on images captured by the imaging device.

57. The imaging system of any one of claims 37 to 44, further comprising:a display unit;wherein the processing system is configured to display one or more images captured by the imaging device on the display unit.

58. A method for capturing images, the method comprising:inserting an imaging device into a workspace, wherein the imaging device comprises:an elongate shaft including a proximal end and a distal end;one or more optical receivers;one or more optical fibers extending from the distal end of the shaft to at least the proximal end of the shaft; anda diffuser located at a distal end of the one or more optical fibers; generating light using an illumination source, wherein the illumination source is coupled to a proximal end of the one or more optical fibers;diffusing the light generated by the illumination source using the diffuser, the diffused light being projected into a workspace; andcapturing one or more images using the one or more optical receivers.

59. The method of claim 58, wherein the illumination source is located in a housing near a proximal end of the imaging device.

60. The method of claim 58, wherein the illumination source is located separate from the imaging device.

61. The method of claim 60, wherein the illumination source is located in a cable coupled to the imaging device, a workstation, an instrument mount to which the imaging device is mounted, or a repositionable structure usable to position or orient the imaging device.Atorney Docket No. P06983-WO:0139PC62. The method of claim 58, wherein the illumination source comprises a blue LED or a blue laser.

63. The method of claim 62, wherein a wavelength of the blue LED or the blue laser is in a range from 405 nm to 450 nm.

64. The method of claim 58, further comprising generating, using the illumination source, white or red-green-blue light.

65. The method of claim 58, wherein the illumination source comprises two or more illumination generating elements combined using one or more lenses and one or more mirrors.

66. The method of any one of claims 58 to 65, wherein illumination generated by the illumination source supports fluorescence imaging.

67. The method of any one of claims 58 to 65, further comprising generating, using the illumination source, infrared light.

68. The method of any one of claims 58 to 65, further comprising widening, using the diffusor, a numerical aperture of light transmitted using the one or more optical fibers, wherein illumination provided to a workspace has a first numerical aperture.

69. The method of claim 68, wherein the first numerical aperture is based on a width of a field of view of the one or more optical receivers.

70. The method of any one of claims 58 to 65, further comprising, converting, using the diffuser, light transmitted using the one or more optical fibers to illumination having a rectangular shape.

71. The method of any one of claims 58 to 65, further comprising, altering, using the diffuser, a first spectrum of light transmitted by the one or more optical fibers to provide illumination having a second spectrum to a workspace.Attorney Docket No. P06983-WO:0139PC72. The method of claim 71, wherein:the first spectrum of blue light; andthe second spectrum of the illumination is white light.

73. The method of any one of claims 58 to 65, wherein the imaging device is handheld.

74. The method of any one of claims 58 to 65, wherein the imaging device is configured to be mounted to a repositionable structure.

75. The method of any one of claims 58 to 65, wherein the imaging device is configured to be introduced into a workspace through a cannula or a guide tube.

76. The method of any one of claims 58 to 65, wherein the imaging device is a stereoscopic endoscope.

Images