A navigation device, adapter or
system for real time three-dimensional (3D) depth sensing through
endoscope, a laparoscope, an arthroscope, a
cystoscope, a
ureteroscope, a bronchoscope, a sinuscope, and a
borescope devices. The navigation devices or systems can include a modular, releasable adapter that enables
LiDAR or other optical time-of-flight sensor with the devices. The devices, adapters or systems are operable to generate sub-
millimeter precision reconstructions of the viewed surfaces and can register the surfaces to scans, such as preoperative scans, to facilitate accurate, image-guided procedures, particularly those procedures involving precise actions, such as
surgical procedures performed on rigid
anatomy. Applications include surgical guidance,
augmented reality visualization, distance-based
signal normalization, 3D measurement, luminal traversal tracking, and
robotic control, all using off-the shelf endoscopes and surgical cameras as well as borescopes. The time-of-flight sensor may be sensitive to a subrange of visible light such that the
system readily supports simultaneous acquisition of visible light imaging,
fluorescence, and depth data, with calibration workflows for
wide field of view
optics and
adaptive software control of focus, illumination, and display rendering.