Patent Publication Number: US-2022233061-A1

Title: Flexible high resolution endoscope

Description:
CROSS-REFERENCE TO RELATED APPLICATION(S) 
     This document is a continuation application claiming the benefit of, and priority to, U.S. patent application Ser. No. 16/326,349, filed on Feb. 18, 2019, entitled “A Flexible High Resolution Endoscope,” and International Application No. PCT/IB2016/054931, filed on Aug. 17, 2016, and entitled “A Flexible High Resolution Endoscope,” all of which are hereby incorporated by reference herein in their entirety. 
    
    
     FIELD 
     The present disclosure generally relates to medical imaging. More particularly, the present disclosure relates to systems and methods for minimally invasive therapy and image guided medical procedures. 
     BACKGROUND 
     Traditional flexible endoscopes, also known as fiberscopes, allow for visualization during a minimally invasive procedure. However, these fiberscopes produce two-dimensional images that are devoid of three-dimensional depth information, which is, otherwise, critical to a surgeon attempting to identify, and operate on, small, or difficult to see, structures. Images, acquired by these related art fiberscopes, are also relatively low in quality due to the limited resolution of the fiber bundle used to transmit the images to the sensor. These related art fiberscopes have higher resolution image guides that are still much lower in resolution than current imaging standards. Typical fiber image guides provide images having a resolution of about 18 kilopixels, i.e., much lower when compared to the megapixel resolutions displayed in high-definition video. Furthermore, while some higher resolution image guides are available, this higher resolution is achieved by using thicker optical fiber bundles than those used with typical fiber image guides; and hence higher resolution image guides are constrained in their bending with much larger turning radii that limits where such guides can be used in a surgical case. 
     SUMMARY 
     The present disclosure is generally directed to image guided medical procedures using an access port. This port-based surgery approach allows a surgeon, or robotic surgical system, to perform a surgical procedure involving tumor resection in which the residual tumor is minimized, while also minimizing the trauma to the intact white and grey matter of the brain. In such procedures, trauma may occur, for example, due to contact with the access port, stress to the brain matter, unintentional impact with surgical devices, and/or accidental resection of healthy tissue. 
     Hence, an aspect of the present disclosure provides a flexible endoscope that produces three-dimensional images, the endoscope comprising multiple fiber bundle image guides (each of which can be around 18 kilopixels resolution), coupled with a multi-lens array on one end and multiple camera sensors on the other end. The fiber bundles in the endoscope are coupled together at a common distal end and, are otherwise, uncoupled from one another. Each lens on the array projects a separate image to a different fiber bundle at the distal end of each fiber bundle, each of which respectively conveys a respective image to a respective camera sensor coupled with an opposite proximal end of each fiber bundle, such that the endoscope acquires a plurality of separate pixelated images. These images, acquired by each of the sensors, are merged and reconstructed by using, for example, principles of light field imaging and processing, to produce a super-resolution image. This merger and reconstruction allow for much higher resolution imaging than is possible with conventional fiberscopes, thereby allowing better diagnosis and treatment. Furthermore, the endoscope provided herein is more flexible than the high-resolution endoscopes as the flexibility is determined by each individual fiber bundle, all of which are coupled together only at a distal end. 
     An aspect of the present disclosure provides an endoscope comprising: a plurality of optical fiber bundles; a plurality of lenses in a one-to-one relationship with the plurality of optical fiber bundles; and, a plurality of cameras in a one-to-one relationship with the plurality of optical fiber bundles, each respective optical fiber bundle, of the plurality of optical fiber bundles, having a respective lens, of the plurality of lenses, located at a respective distal end, and a camera, of the plurality of cameras, located at a respective proximal end, the plurality of optical fiber bundles being coupled together at a common distal end, and otherwise being uncoupled from one another, a bending radius of the endoscope defined by a largest respective bending radius of each of the plurality of optical fiber bundles. 
     The plurality of optical fiber bundles comprises a first optical fiber bundle and a second optical fiber bundle, each having the respective lens located at the respective distal end, and the respective camera located at the respective proximal end, thereby forming a three-dimensional camera. Respective distal ends of the plurality of optical fiber bundles, and respective lenses located at the respective distal ends, can be spaced apart from one another to provide different views of objects in front of the respective distal ends, thereby forming a plenoptic camera. Each respective diameter of the plurality of optical fiber bundles can be less than or equal to about 2 mm. The plurality of lenses is each formed in a common optical element that can be located at the common distal end. The plurality of lenses can each be formed in a common optical element located at the common distal end, the common optical element being one or more of: removable from the common distal end of the plurality of optical fiber bundles; and disposable. Two or more of the plurality of lenses can have one or more of: different depths of field, different fields of view of objects in front of the plurality of lenses: and different angular views of objects in front of the plurality of lenses. 
     The endoscope further comprises a controller configured to: receive respective images from each of the plurality of cameras; and combine the respective images into a single higher resolution image. The endoscope further comprises a controller configured to: receive respective images from each of the plurality of cameras; remove dead pixels from the respective images; and combine the respective images into a single higher resolution image. The endoscope further comprises a controller configured to: receive respective images from each of the plurality of cameras; and combine the respective images into a depth-map of objects in front of the plurality of lenses. The endoscope further comprises a controller configured to: receive respective images from each of the plurality of cameras; and combine the respective images into a depth-map of objects in front of the plurality of lenses using light field processing. 
     Another aspect of the present disclosure provides a method comprising: at an endoscope having: a plurality of optical fiber bundles; a plurality of lenses in a one-to-one relationship with the plurality of optical fiber bundles; a plurality of cameras in a one-to-one relationship with the plurality of optical fiber bundles, each respective optical fiber bundle, of the plurality of optical fiber bundles, having a respective lens, of the plurality of lenses, located at a respective distal end, and a camera, of the plurality of cameras, located at a respective proximal end, the plurality of optical fiber bundles being coupled together at a common distal end, and otherwise being uncoupled from one another, a bending radius of the endoscope defined by a largest respective bending radius of each of the plurality of optical fiber bundles; and a controller configured to: receive respective images from each of the plurality of cameras, receiving, at the controller, the respective images from each of the plurality of cameras; combining, at the controller, the respective images into a single higher resolution image; and combining the respective images into a depth-map of objects in front of the plurality of lenses. 
     The method further comprises: removing, at the controller, dead pixels from the respective images prior to combining the respective images into one or more of the single higher resolution image and the depth-map. The method further comprises: combining the respective images into the depth-map using a light field processing. Two or more of the plurality of lenses have one or more of: different depths of field, different fields of view of objects in front of the plurality of lenses: and different angular views of objects in front of the plurality of lenses. 
     In accordance with an embodiment of the present disclosure, an endoscope apparatus comprises: a plurality of optical fiber bundles; a plurality of lenses in a one-to-one correspondence with the plurality of optical fiber bundles, each lens of the plurality of lenses comprising a distinct depth of field and a distinct angle of view in relation to another lens of the plurality of lenses; and a plurality of cameras in a one-to-one correspondence with the plurality of optical fiber bundles. 
     In accordance with an embodiment of the present disclosure, a method of providing an endoscope apparatus comprises: providing a plurality of optical fiber bundles; providing a plurality of lenses in a one-to-one correspondence with the plurality of optical fiber bundles, providing the plurality of lenses comprising providing each lens of the plurality of lenses with a distinct depth of field and a distinct angle of view in relation to another lens of the plurality of lenses; and providing a plurality of cameras in a one-to-one correspondence with the plurality of optical fiber bundles. 
     In accordance with an embodiment of the present disclosure, a method of imaging, by way of an endoscope apparatus, comprises: providing the apparatus, providing the apparatus comprising: providing a plurality of optical fiber bundles; providing a plurality of lenses in a one-to-one correspondence with the plurality of optical fiber bundles, providing the plurality of lenses comprising providing each lens of the plurality of lenses with a distinct depth of field and a distinct angle of view in relation to another lens of the plurality of lenses; and providing a plurality of cameras in a one-to-one correspondence with the plurality of optical fiber bundles; and operating the apparatus by way of a controller. 
     Yet a further aspect of the present disclosure provides a computer-readable medium storing a computer program, wherein execution of the computer program is for: at an endoscope having: a plurality of optical fiber bundles; a plurality of lenses in a one-to-one relationship with the plurality of optical fiber bundles; a plurality of cameras in a one-to-one relationship with the plurality of optical fiber bundles, each respective optical fiber bundle, of the plurality of optical fiber bundles, having a respective lens, of the plurality of lenses, located at a respective distal end, and a camera, of the plurality of cameras, located at a respective proximal end, the plurality of optical fiber bundles being coupled together at a common distal end, and otherwise being uncoupled from one another, a bending radius of the endoscope defined by a largest respective bending radius of each of the plurality of optical fiber bundles; and a controller configured to: receive respective images from each of the plurality of cameras, receiving, at the controller, the respective images from each of the plurality of cameras; combining, at the controller, the respective images into a single higher resolution image; and combining the respective images into a depth-map of objects in front of the plurality of lenses. The computer-readable medium comprises a non-transitory computer-readable medium. 
    
    
     
       BRIEF DESCRIPTIONS OF THE DRAWINGS 
       For a better understanding of the various implementations described herein and to show more clearly how they may be carried into effect, reference will now be made, by way of example only, to the accompanying drawings in which: 
         FIG. 1  is a diagram illustrating an operating room set up for a minimally invasive access port-based medical procedure, in accordance with an embodiment of the present disclosure. 
         FIG. 2  is a diagram illustrating components of a medical navigation system that may be used to implement a surgical plan for a minimally invasive surgical procedure, in accordance with an embodiment of the present disclosure. 
         FIG. 3  is a block diagram illustrating components of a planning system used to plan a medical procedure that may then be implemented using the navigation system, as shown in  FIG. 2 , in accordance with an embodiment of the present disclosure. 
         FIG. 4  is a diagram illustrating a port-based brain surgery using a video scope, in accordance with an embodiment of the present disclosure. 
         FIG. 5  is a diagram illustrating insertion of an access port into a human brain, for providing access to interior brain tissue during a medical procedure, in accordance with an embodiment of the present disclosure. 
         FIG. 6  is a schematic diagram illustrating a system that includes a flexible high-resolution endoscope, in accordance with an embodiment of the present disclosure. 
         FIG. 7  is a flow diagram illustrating a method for combining images using the flexible high-resolution endoscope, as shown in  FIG. 6 , in accordance with an embodiment of the present disclosure. 
         FIG. 8  is a diagram illustrating the system, as shown in  FIG. 6 , in use, in accordance with an embodiment of the present disclosure. 
         FIG. 9  is a diagram illustrating an optical element of the flexible high-resolution endoscope, as shown in  FIG. 6 , in accordance with an embodiment of the present disclosure. 
         FIG. 10  is a diagram illustrating an optical element that can be used with the flexible high-resolution endoscope, as shown in  FIG. 6 , in accordance with an embodiment of the present disclosure. 
         FIG. 11  is a diagram illustrating the optical element, as shown in  FIG. 10 , in accordance with an embodiment of the present disclosure. 
         FIG. 12  is a diagram illustrating the optical element, as shown in  FIG. 10 , in accordance with an embodiment of the present disclosure. 
         FIG. 13  is a schematic diagram illustrating a system comprising an alternative flexible high-resolution endoscope, in accordance with an embodiment of the present disclosure. 
         FIG. 14  is a block diagram illustrating an endoscope apparatus, in accordance with an embodiment of the present disclosure. 
         FIG. 15  is a flow diagram illustrating a method of providing an endoscope apparatus, as shown in  FIG. 14 , in accordance with an embodiment of the present disclosure. 
         FIG. 16  is a flow diagram illustrating a method of imaging by way of an endoscope apparatus, as shown in  FIG. 14 , in accordance with an embodiment of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Various implementations and aspects of the present disclosure will be described with reference to the below details. The following description and drawings are illustrative of the present disclosure and are not to be construed as limiting the present disclosure. Numerous specific details are described to provide a thorough understanding of various implementations of the present disclosure. However, in certain instances, well-known or conventional details are not described in order to provide a concise discussion of implementations of the present disclosure. 
     The systems and methods described herein may be useful in the field of neurosurgery, including oncological care, neurodegenerative disease, stroke, brain trauma, and orthopedic surgery; however, extending these concepts to other conditions or fields of medicine is also encompassed by the present disclosure. The surgical process is applicable to surgical procedures for brain, spine, knee and any other suitable region of the body. 
     Various apparatuses and processes are below described to provide examples of implementations of the disclosed herein system. No implementation below described limits any claimed implementation and any claimed implementations may cover processes or apparatuses that differ from those below described. The claimed implementations are not limited to apparatuses or processes having all of the features of any one apparatus or process below described or to features common to multiple or all of the apparatuses or processes below described. It is possible that an apparatus or process described below is not an implementation of any claimed subject matter. 
     Furthermore, numerous specific details are set forth in order to provide a thorough understanding of the implementations herein described. However, the implementations described herein may be practiced without these specific details. In other instances, well-known methods, procedures and components have not been described in detail so as not to obscure the implementations described herein. 
     As used herein, elements may be described as “configured to” perform one or more functions or “configured for” such functions. In general, an element that is configured to perform or configured for performing a function is enabled to perform the function, or is suitable for performing the function, or is adapted to perform the function, or is operable to perform the function, or is otherwise capable of performing the function. 
     For the purpose of this present disclosure, language of “at least one of X, Y, and Z” and “one or more of X, Y and Z” may be construed as X only, Y only, Z only, or any combination of two or more items X, Y, and Z, e.g., XYZ, XY, YZ, ZZ, and the like. Similar logic may be applied for two or more items in any occurrence of “at least one . . . ” and “one or more . . . ” language. 
     Referring to  FIG. 1 , this diagram illustrates a navigation system  100  is shown to support minimally invasive access port-based surgery, in accordance with an embodiment of the present disclosure. A neurosurgeon  101  conducts a minimally invasive port-based surgery on a patient  102  in an operating room (OR) environment. The navigation system  100  includes an equipment tower, tracking system, displays and tracked instruments to assist the surgeon  101  during the procedure. An operator  103  may also be present to operate, control and provide assistance for the navigation system  100 . 
     Referring to  FIG. 2 , this diagram illustrates components of an example medical navigation system  200 , according to embodiments of the present disclosure. The medical navigation system  200  illustrates a context in which a surgical plan including equipment, e.g., tool and material, tracking, such as that described herein, may be implemented. The medical navigation system  200  includes, but is not limited to, one or more monitors  205 ,  211  for displaying a video image, an equipment tower  201 , and a mechanical arm  202 , which supports an optical scope  204 . The equipment tower  201  is mounted on a frame, e.g., a rack or cart, and may contain a computer or controller (examples provided with reference to  FIGS. 3 and 6 ), planning software, navigation software, a power supply, software to manage the mechanical arm  202 , and tracked instruments. In one example non-limiting implementation, the equipment tower  201  comprises a single tower configuration with dual display monitors  211 ,  205 , however other configurations may also exist, e.g., dual tower, single display, etc. Furthermore, the equipment tower  201  is configured with a universal power supply (UPS) to provide emergency power, in addition to a regular AC adapter power supply. 
     Still referring to  FIG. 2 , a patient&#39;s anatomy may be held in place by a holder. For example, in a neurosurgical procedure, the patient&#39;s head may be held in place by a head holder  217 , and an access port  206  and an introducer  210  may be inserted into the patient&#39;s head. The introducer  210  may be tracked using a tracking camera  213 , which provides position information for the navigation system  200 . The tracking camera  213  may also be used to track tools and/or materials used in the surgery, as below described in more detail. In one example, the tracking camera  213  comprises a 3D (three-dimensional) optical tracking stereo camera, similar to one made by Northern Digital Imaging (NDI®), configured to locate reflective sphere tracking markers  212  in 3D space. 
     Still referring to  FIG. 2 , in another example, the tracking camera  213  may comprise a magnetic camera, such as a field transmitter, where receiver coils are used to locate objects in 3D space, as is also known in the art. Location data of the mechanical arm  202  and access port  206  may be determined by the tracking camera  213  by detection of tracking markers  212  placed on these tools, for example, the introducer  210  and associated pointing tools. Tracking markers may also placed on surgical tools or materials to be tracked. The secondary display  205  may provide output of the tracking camera  213 . In one example non-limiting implementation, the output may be shown in axial, sagittal, and coronal views as part of a multi-view display. The introducer  210  may include tracking markers  212  for tracking. The tracking markers  212  may comprise reflective spheres in the case of an optical tracking system and/or pick-up coils in the case of an electromagnetic tracking system. The tracking markers  212  may be detected by the tracking camera  213  and their respective positions are inferred by the tracking software. 
     Still referring to  FIG. 2 , a guide clamp  218  (or more generally a guide) for holding the access port  206  may be provided. The guide clamp  218  may optionally engage and disengage with the access port  206  without needing to remove the access port  206  from the patient. In some examples, the access port  206  may be moveable relative to the guide clamp  218 , while in the guide clamp  218 . For example, the access port  206  may be able to slide up and down, e.g., along the longitudinal axis of the access port  206 , relative to the guide clamp  218  while the guide clamp  218  is in a closed position. A locking mechanism may be attached to or integrated with the guide clamp  218 , and may optionally be actuatable with one hand, as described further below. Furthermore, an articulated arm  219  may be provided to hold the guide clamp  218 . The articulated arm  219  may have up to six degrees of freedom to position the guide clamp  218 . The articulated arm  219  may be lockable to fix its position and orientation, once a desired position is achieved. The articulated arm  219  may be attached or attachable to a point based on the patient head holder  217 , or another suitable point, e.g., on another patient support, such as on the surgical bed, to ensure that when locked in place, the guide clamp  218  does not move relative to the patient&#39;s head. 
     Referring to  FIG. 3 , a block diagram is shown illustrating a control and processing unit  300  that may be used in the navigation system  200 , as shown in  FIG. 2 , e.g., as part of the equipment tower, in accordance with an embodiment of the present disclosure. In one example non-limiting implementation, control and processing unit  300  may include one or more processors  302 , a memory  304 , a system bus  306 , one or more input/output interfaces  308 , a communications interface  310 , and storage device  312 . In particular, one or more processors  302  may comprise one or more hardware processors and/or one or more microprocessors. Control and processing unit  300  is interfaced with other external devices, such as tracking system  321 , data storage device  342 , and external user input and output devices  344 , which may include, but is not limited to, one or more of a display, keyboard, mouse, foot pedal, and microphone and speaker. Data storage device  342  may comprise any suitable data storage device, including, but not limited to a local and/or remote computing device, e.g., a computer, hard drive, digital media device, and/or server, having a database stored thereon. 
     Still referring to  FIG. 3 , the data storage device  342  includes, but is not limited to, identification data  350  for identifying one or more medical instruments  360  and configuration data  352  that associates customized configuration parameters with one or more medical instruments  360 . Data storage device  342  may also include, but is not limited to, preoperative image data  354  and/or medical procedure planning data  356 . Although data storage device  342  is shown as a single device in  FIG. 3 , in other implementations, data storage device  342  may be provided as multiple storage devices. 
     Still referring to  FIG. 3 , the medical instruments  360  may be identifiable using control and processing unit  300 . Medical instruments  360  may be connected to and controlled by control and processing unit  300 , and/or medical instruments  360  may be operated and/or otherwise employed independently of control and processing unit  300 . Tracking system  321  may be employed to track one or more of medical instruments  360  and spatially register the one or more tracked medical instruments  360  to an intraoperative reference frame. In another example, a sheath may be placed over a medical instrument  360  and the sheath may be connected to and controlled by control and processing unit  300 . 
     Still referring to  FIG. 3 , the control and processing unit  300  may also interface with a number of configurable devices and may intraoperatively reconfigure one or more of such devices based on configuration parameters obtained from configuration data  352 . Examples of devices  320 , as shown in  FIG. 3 , include, but are not limited, one or more external imaging devices  322 , one or more illumination devices  324 , a robotic arm, one or more projection devices  328 , and one or more displays  305 ,  311 . 
     Still referring to  FIG. 3 , aspects of the present disclosure may be implemented via processor(s)  302  and/or memory  304 . For example, the functionalities described herein may be partially implemented via hardware logic in processor  302  and partially using the instructions stored in memory  304 , as one or more processing modules  370  and/or processing engines. Example processing modules include, but are not limited to, user interface engine  372 , tracking module  374 , motor controller  376 , image processing engine  378 , image registration engine  380 , procedure planning engine  382 , navigation engine  384 , and context analysis module  386 . While the example processing modules are shown separately, in one example non-limiting implementation the processing modules  370  may be stored in the memory  304  and the processing modules may be collectively referred to as processing modules  370 . 
     Still referring to  FIG. 3 , the system is not intended to be limited to the components as shown. One or more components of the control and processing unit  300  may be provided as an external component or device. In one example non-limiting implementation, navigation engine  384  may be provided as an external navigation system that is integrated with control and processing unit  300 . 
     Still referring to  FIG. 3 , some implementations may be implemented using processor  302  without additional instructions stored in memory  304 . Some implementations may be implemented using the instructions stored in memory  304  for execution by one or more general purpose microprocessors. Thus, the present disclosure is not limited to a specific configuration of hardware and/or software. 
     While some implementations may be implemented in fully functioning computers and computer systems, various implementations are capable of being distributed as a computing product in a variety of forms and are capable of being applied regardless of the particular type of machine or computer readable media used to actually effect the distribution. 
     At least some aspects disclosed may be embodied, at least in part, in software. That is, the techniques may be carried out in a computer system or other data processing system in response to its processor, such as a microprocessor, executing sequences of instructions contained in a memory, such as ROM, volatile RAM, non-volatile memory, cache and/or a remote storage device. 
     A computer readable storage medium, and/or a non-transitory computer readable storage medium, may be used to store software and data which, when executed by a data processing system, causes the system to perform various methods. The executable software and data may be stored in various places including for example ROM, volatile RAM, non-volatile memory and/or cache. Portions of this software and/or data may be stored in any one of these storage devices. 
     Examples of computer-readable storage media include, but are not limited to, recordable and non-recordable type media such as volatile and non-volatile memory devices, read only memory (ROM), random access memory (RAM), flash memory devices, floppy and other removable disks, magnetic disk storage media, optical storage media, e.g., compact discs (CDs), digital versatile disks (DVDs), etc., among others. The instructions may be embodied in digital and analog communication links for electrical, optical, acoustical and/or other forms of propagated signals, such as carrier waves, infrared signals, digital signals, and the like. The storage medium may comprise the internet cloud, storage media therein, and/or a computer readable storage medium and/or a non-transitory computer readable storage medium, including, but not limited to, a disc. 
     At least some of the methods described herein are capable of being distributed in a computer program product comprising a computer readable medium that bears computer usable instructions for execution by one or more processors, to perform aspects of the methods described. The medium may be provided in various forms such as, but not limited to, one or more diskettes, compact disks, tapes, chips, USB (Universal Serial Bus) keys, external hard drives, wire-line transmissions, satellite transmissions, internet transmissions or downloads, magnetic and electronic storage media, digital and analog signals, and the like. The computer useable instructions may also be in various forms, including compiled and non-compiled code. 
     According to one aspect of the present application, one purpose of the navigation system  200 , which may include control and processing unit  300 , is to provide tools to a surgeon and/or a neurosurgeon that will lead to the most informed, least damaging neurosurgical operations. In addition to removal of brain tumors and intracranial hemorrhages (ICH), the navigation system  200  may also be applied to a brain biopsy, a functional/deep-brain stimulation, a catheter/shunt placement procedure, open craniotomies, endonasal/skull-based/ENT, spine procedures, and other parts of the body such as breast biopsies, liver biopsies, etc. While several examples have been provided, aspects of the present disclosure may be applied to other suitable medical procedures. 
     Referring to  FIG. 4 , this diagram illustrates a port-based brain surgery procedure using a video scope, in accordance with an embodiment of the present disclosure. An operator  404 , for example, a surgeon, may align video scope  402  to peer down port  406 . Video scope  402  is attached to an adjustable mechanical arm  410 . Port  406  may have a tracking tool  408  attached to it where tracking tool  408  is tracked by a tracking camera of a navigation system. Even though the video scope  402  may comprise an endoscope and/or a microscope, these devices introduce optical and ergonomic limitations when the surgical procedure is conducted over a confined space and conducted over a prolonged period such as the case with minimally invasive brain surgery. 
     Referring to  FIG. 5 , this diagram illustrates the insertion of an access port  12  into a human brain  10 , in order to provide access to interior brain tissue during a medical procedure, in accordance with an embodiment of the present disclosure. The access port  12  is inserted into a human brain  10 , providing access to interior brain tissue. Access port  12  may include, but is not limited to, instruments such as catheters, surgical probes, and/or cylindrical ports such as the NICO BrainPath®. Surgical tools and instruments may then be inserted within a lumen of the access port  12  in order to perform surgical, diagnostic or therapeutic procedures, such as resecting tumors as necessary. However, the present disclosure applies equally well to catheters, DBS needles, a biopsy procedure, and also to biopsies and/or catheters in other medical procedures performed on other parts of the body. In the example of a port-based surgery, a straight and/or linear access port  12  is typically guided down a sulci path of the brain. Surgical instruments and/or surgical tools would then be inserted down the access port  12 . 
     Referring to  FIG. 6 , this schematic diagram illustrates a system  600  comprising a flexible high-resolution endoscope  601  that could be used with access port  12 , in accordance with an embodiment of the present disclosure. Elements of system  600  are not drawn to scale, but are depicted schematically to show functionality. Endoscope  601  comprises: a plurality of optical fiber bundles  603 ; a plurality of lenses  605  in a one-to-one relationship with plurality of optical fiber bundles  603 ; and, a plurality of cameras  607  in a one-to-one relationship with the plurality of optical fiber bundles  603 , each respective optical fiber bundle  603 , of the plurality of optical fiber bundles  603 , having a respective lens  605 , of the plurality of lenses  605 , located at a respective distal end  609 , and a camera  607 , of the plurality of cameras  607 , located at a respective proximal end  611 , plurality of optical fiber bundles  603  being coupled together at a common distal end  609 , and otherwise being uncoupled from one another, a bending radius of endoscope  601  defined by a largest respective bending radius of each of the plurality of optical fiber bundles  603 . The plurality of lenses  605  are each formed in a common optical element  613  located at common distal end  609 , which also couples together plurality of optical fiber bundles  603  at common distal end  609 . Respective distal ends  609  of each optical fiber bundle  603  are coincident with common distal end  609 , such each of distal ends  609  and common distal end  609  are similarly numbered. 
     Still referring to  FIG. 6 , the system  600  further comprises a controller  615 , coupled with each of cameras  607 , and a display device  626 , as below described in more detail. In general, endoscope  601  is configured to acquire a plurality of images of a tissue sample  620 , which can include, but is not limited to, a tissue sample accessible via access port  12 . In particular, respective distal ends  609  of the plurality of optical fiber bundles  603 , and respective lenses  605  located at respective distal ends  609 , are spaced apart from one another to provide different views of objects (such as tissue sample  620 ) in front of the respective distal ends  609 . In some of these implementations, endoscope  601  can thereby form a plenoptic camera. 
     Still referring to  FIG. 6 , while only one of each of plurality of optical fiber bundles  603 , plurality of lenses  605 , and plurality of cameras  607 , the endoscope  601  comprises four optical fiber bundles  603 , four respective lenses  605  and four respective cameras  607 . However, endoscope  601  comprises as few as two of each of optical fiber bundles  603 , lenses  605  and cameras  607 , and comprises more than four of each of optical fiber bundles  603 , lenses  605  and cameras  607 . However, at a minimum, endoscope  601  comprises the plurality of optical fiber bundles comprises a first optical fiber bundle  603  and a second optical fiber bundle  603 , each having the respective lens  605  located at the respective distal end  609 , and the respective camera  607  located at the respective proximal end  611 , which can thereby form a three-dimensional camera. 
     Still referring to  FIG. 6 , each optical fiber bundle  603  comprises an optical fiber having a respective diameter of are less than or equal to about 2 mm (however, optical fiber bundles  603  need not have all the same diameter). In particular, each optical fiber bundle  603  can have a diameter that can convey images from respective lenses  605  to respective cameras  607  with resolutions similar to cameras  607 . For example, 2 mm optical fiber bundles can convey images of resolutions of about 18 kilopixels, and hence cameras  607  can produce digital images have resolutions of about 18 kilopixels. 
     Still referring to  FIG. 6 , furthermore, as each optical fiber bundle  603  is free to bend independent from every other optical fiber bundle  603 , other than at common distal end  609 , the bending radius of endoscope  601  is determined and/or defined by the individual bending radii of each optical fiber bundle  603  rather than a total bending radii if optical fiber bundles  603  were coupled together along their entire length. Put another way, a bending radius of endoscope  601  is defined by a largest respective bending radius of each of the plurality of optical fiber bundles  603 . As such, optical fiber bundles  603  of any suitable diameter are within the scope of present implementations; for example, a specified bending radius of endoscope  601  is used to select individual optical fibers that will meet this present disclosure, rather than selecting optical fibers that, when coupled together, will meet this present disclosure. 
     Still referring to  FIG. 6 , in other words, a plurality of optical fiber bundles  603  are coupled together at common distal end  609 , e.g., by way of common optical element  613 , and are otherwise uncoupled from one another. Indeed, each of plurality of optical fiber bundles  603  can bend from common distal end  609  independent of the other optical fiber bundles  603 . As such plurality of optical fiber bundles  603  are not attached to each other than at common distal end  609 . 
     Still referring to  FIG. 6 , each optical fiber bundle  603  can have a length that is commensurate with insertion through an access port (including, but not limited to, access port  12 ), as well as port-based surgery, such that common distal end  609  is inserted through an access port, and optical fiber bundles  603  join respective lenses  605  to respective cameras  607  such that cameras  607  do not block surgical access to access port  12 , e.g., cameras  607  do not block access of a surgeon (and the like) and/or surgical tools (and the like) to access port  12 . For example, each optical fiber bundle  603  can be greater than about a half meter long. Furthermore, optical fiber bundles  603  need not all be the same length, and some optical fiber bundles  603  can be longer or shorter than other optical fiber bundles  603 . 
     Still referring to  FIG. 6 , each lens  605  is formed in common optical element  613  located at common distal end  609 . Common optical element  613  comprises one or more of optical glass and optical plastic, at least at a tissue facing side of common optical element  613 . Each lens  605  is formed in the common optical element  613  using, for example, laser processing (including, but not limited to, femtosecond laser processing, and the like) to form profiles in the index of refraction in the glass and/or plastic of common optical element  613  which correspond to each lens  605 . However, lenses  605  can also be tiled together using one or more of a mechanical assembly, adhesives, and the like. 
     Still referring to  FIG. 6 , two or more of plurality of lenses  605  can have one or more of: different depths of field, different fields of view of objects in front of the plurality of lenses  605 : and different angular views of objects in front of the plurality of lenses  605 . Hence, when endoscope  601  is imaging tissue sample  620 , tissue sample  620  can be imaged using at least two different depths of field and/or at least two different fields of view and/or at least two different angular views. 
     Still referring to  FIG. 6 , each camera  607  can include, but is not limited to one or more of a charge-coupled device (CCD) camera, a digital camera, an optical camera, and the like, and is generally configured to acquire digital images, and in particular digital images received from a respective lens  605  via a respective optical fiber bundle  603 . While not depicted, each camera  607  can further include one or more respective lenses for focusing light from a respective optical fiber  603  onto a respective imaging element (such as a CCD). While not depicted, endoscope  601  can include one or more devices for coupling optical fiber bundles  603  to a respective camera  607 . Furthermore, each camera  607  can have a resolution of about 18 kilopixels. 
     Still referring to  FIG. 6 , the controller  615  comprises any suitable combination of computing devices, processors, memory devices and the like. In particular, controller  615  comprises one or more of a data acquisition unit, configured to acquire data and/or images at least from cameras  607 , and an image processing unit, configured to process data and/or images from cameras  607  for rendering at display device  626 . Hence, controller  615  is interconnected with cameras  607  and display device  626 . In some implementations, controller  615  comprises control and processing unit  300 , as shown in  FIG. 3 , and/or controller  615  communicates with control and processing unit  300 , as shown in  FIG. 3 , and/or controller  615  can be under control of communication with control and processing unit  300 , as shown in  FIG. 3 . 
     Still referring to  FIG. 6 , in some implementations, however, controller  615  can be a component of endoscope  601  such that endoscope  601  comprises controller  615 . In these implementations, endoscope  601  can be provided as a unit with controller  615  which can be interfaced with control and processing unit  300  depicted in  FIG. 3 , and the like. The display device  626  comprises any suitable display device including, but not limited to, cathode ray tubes, flat panel displays, and the like. For example, display device  626  comprises one or more of monitors  205 ,  211 , as shown in  FIG. 2 , and/or displays  305 ,  311  shown in  FIG. 3 . 
     Referring to  FIG. 7 , this flow diagram illustrates a method  700  for combining images from cameras, according to non-limiting implementations, in accordance with an embodiment of the present disclosure. In order to assist in the explanation of method  700 , assumed is that method  700  is performed using system  600 , and specifically by controller  615 . Indeed, the method  700  is one way in which system  600  and/or controller  615  can be configured. Furthermore, the following discussion of method  700  will lead to a further understanding of controller  615 , and system  600  and its various components. However, the system  600  and/controller  615  and/or method  700  can be varied, and need not work exactly as discussed herein in conjunction with each other, and that such variations are within the scope of present disclosure. 
     Still referring to  FIG. 7 , regardless, the method  700  need not be performed in the exact sequence as shown, unless otherwise indicated; and likewise various blocks are performed in parallel rather than in sequence; hence the elements of method  700  are referred to herein as “blocks” rather than “steps”. The method  700  can be implemented on variations of system  600  as well. At block  701 , controller  615  receives respective images from each of plurality of cameras  607 . At an optional block  703  (indicated by block  703  being shown in broken lines), controller  615  removes dead pixels from the respective images. In some implementations, block  703  is not performed. Furthermore, in other implementations, when no dead pixels are in the respective images, block  703  is not performed. At block  705 , controller  615  can combine the respective images into a single higher resolution image. At block  707 , controller  615  can combine the respective images into a depth-map of objects in front of the plurality of lenses  605  using, for example, light field processing techniques, and the like. In some implementations, controller  615  can implement both blocks  705 ,  707 , for example, in parallel with each other and/or one after the other. In other implementations, controller  615  can implement one of blocks  705 ,  707 . In some implementations, controller  615  can implement blocks  703  in conjunction with one or more of blocks  705 ,  707 . 
     Still referring to  FIG. 7 , back to  FIG. 6 , and ahead to  FIG. 8 , the method  700 , respective distal ends  609  and respective proximal ends  611  are enlarged, and the entire length of each optical fiber bundle  603  is not depicted. In  FIG. 8 , light  801 ,  802 ,  803 ,  804  representing different respective views of tissue sample  620  is collected by respective lenses  601  and conveyed to respective cameras  607  by respective optical fiber bundles  603 . Cameras  607  convert light  801 ,  802 ,  803 ,  804  into respective digital images  811 ,  812 ,  813 ,  814  of tissue sample  620 , which are received at controller  615 , e.g. at block  701  of method  700 . 
     Still referring to  FIG. 7 , back to  FIG. 6 , and ahead to  FIG. 8 , the controller  615  processes digital images  811 ,  812 ,  813 ,  814  to optionally remove dead pixels in each of digital images  811 ,  812 ,  813 ,  814 , e.g., at block  703  of method  700 , and combine digital images  811 ,  812 ,  813 ,  814  into one or more of single higher resolution image  820  of tissue sample  620 , e.g., at block  705  of method  700 , and a depth-map  830  of tissue sample  620 , e.g., at block  707  of method  700 . Controller  615  can be configured to produce higher resolution image  820  and/or depth-map  830  from digital images  811 ,  812 ,  813 ,  814  using light field processing. Controller  615  can then provide higher resolution image  820  and/or depth-map  830  to display device  626  for rendering thereupon. Controller can optionally provide one or more of digital images  811 ,  812 ,  813 ,  814  to display device  626  for rendering thereupon (not depicted). 
     Still referring to  FIG. 7 , back to  FIG. 6 , and ahead to  FIG. 8 , dead pixels of digital images  811 ,  812 ,  813 ,  814  and pixels of digital images  811 ,  812 ,  813 ,  814  can be combined and/or interlaced and/or used to produce interpolated pixels to produce image  820  which has a higher resolution of each of digital images  811 ,  812 ,  813 ,  814  taken alone. Hence, if each of digital images  811 ,  812 ,  813 ,  814  has a resolution of about 18 kilopixels, image  820  can have a resolution can at least about double 18 kilopixels. Thus, endoscope  601  is configured to images having resolutions similar to those produced by existing high-resolution endoscopes, but without the attendant problems with bending radius suffered by those existing high-resolution endoscopes. Using light field processing of the separate digital images  811 ,  812 ,  813 ,  814  from cameras  607 , a depth-map of tissue sample  620  (or any other object) imaged by lenses  605  can be reconstructed, which can allow structures with differing depth to be more easily detected and/or see. When endoscope  601  is configured for omni-focusing (having all objects imaged by lenses  605  in focus), selective post-acquisition focusing, and depth of field control can be possible, both in post-acquisition and real-time. This post-processing can also allow for removal of dead pixels which can be caused by broken fibers within fiber bundles without significant loss of detail. In other words, block  703  can be performed in conjunction with either of blocks  705 ,  707 . 
     Still referring to  FIG. 7 , back to  FIG. 6 , and ahead to  FIG. 8 , in some implementations, two or more of digital images  811 ,  812 ,  813 ,  814  can be combined into a stereo image of tissue sample  620 . Indeed, a plurality of pairs of digital images  811 ,  812 ,  813 ,  814  can be combined to produce a plurality of stereo images of tissue sample  620 , for example from different angles and/or different fields of view and/or different depths of field. In yet further implementations, where lenses  605  have different depths of field, but a similar field of view, digital images  811 ,  812 ,  813 ,  814  can be combined into a plenoptic image of tissue sample  620  such that a depth of field of the plenoptic image can be selected by a user interacting with controller  615 , display device  626  and an input device (not depicted). Indeed, in these implementations, lenses  605  can be configured for omni-focusing, where all objects, e.g., including, but not limited to tissue sample  620 , imaged by lenses  605  are in focus; while each individual lens  605  may not have all objects in focus, collectively lenses  605  can image all objects in focus such that, collectively, all images produced by cameras  607  include all objects imaged by lenses  605  in focus, at least in one of the images. 
     Referring to  FIG. 9 , this diagram illustrates a common optical element  613 . Common optical element  613  is generally configured to both provide lenses  605  and couple together the plurality of optical fiber bundles  603  at common distal end  609 , in accordance with an embodiment of the present disclosure. Hence, common optical element  613  comprises lenses  605  and, as depicted, respective slots  901  for receiving a respective optical fiber bundle  603  on a proximal side, each slot  901  in a body of common optical element  613 , and each slot  901  terminating at a respective lens  605  at distal end  609 . Hence, each slot  901  has a diameter that is similar to a diameter of a respective optical fiber bundle  603  such that each slot  901  can receive a respective optical fiber bundle  603  and seat a distal end of each respective optical fiber bundle  603  at a respective lens  605 . While not depicted, common optical element  613  can further comprise a mechanism for fixing each respective optical fiber bundle  603  within a respective slot  901 ; alternatively, adhesives (including, but not limited to optical adhesives) can be used to fix a respective optical fiber bundle  603  within a respective slot  901 . 
     Referring to  FIG. 10 , this diagram illustrates an optical element  613   a , substantially similar to optical element  613 , with like elements having like numbers, however with an “a” appended thereto, in accordance with an embodiment of the present disclosure. Hence, optical element  613   a  comprises a plurality of lenses  605   a  at a distal end  609   a . However, in contrast to optical element  613 , optical element  613   a  comprises eight lenses  605   a , and one slot  901   a  configured to receive a plurality of optical fiber bundles. However, optical element  613   a  comprises fewer than eight lenses  605   a  and more than eight lenses  605   a.    
     Referring to  FIG. 11 , which depicts slot  901   a  of optical element  613   a  receiving a plurality of optical fiber bundles  603   a , in a one-to-one relationship with plurality of lenses  605   a , optical fiber bundles  603   a  being coupled together a common distal end  609   a , and otherwise being uncoupled from one another, in accordance with an embodiment of the present disclosure. While only a portion of optical fiber bundles  603   a  is depicted, it is assumed that each optical fiber bundle  603   a  is coupled to a respective camera at a proximal end, similar to implementations depicted in  FIG. 6 . In particular, coupling together of optical fiber bundles  603   a  at common distal end  609   a  results in a total diameter of coupled optical fiber bundles  603   a  that is about a same diameter as slot  901   a . While not depicted, distal ends of optical fiber bundles  603   a  are aligned with a respective lens  605   a , as in system  600 . For example, a geometry of distal ends of optical fiber bundles  603   a  can be selected so that when distal ends of optical fiber bundles  603   a  are coupled together, they form a geometric pattern, and lenses  605   a  can be arranged into a similar pattern. Hence, when distal ends of optical fiber bundles  603   a  are inserted into slot  901   a , one or more of distal ends of optical fiber bundles  603   a  and common optical element  613   a  can be rotated until alignment with lenses  605   a  occurs. Such alignment can be determined by one or more of processing and viewing images from cameras to which each optical fiber bundle  603   a  is coupled. 
     Still referring to  FIG. 11 , alternatively, distal ends of optical fiber bundles  603   a  can have a cross-section of a given geometric shape, for example, a geometric shape having at least one flat side, and a respective cross-section slot  901   a  can have a similar shape; hence, when distal ends of optical fiber bundles  603   a  are inserted into slot  901   a  the flat sides align which can cause the distal ends of optical fiber bundles  603   a  to align with lenses  605   a . Alternatively, a mechanical assembly can be used to couple together distal ends of optical fiber bundles  603   a  and further space distal ends of optical fiber bundles  603   a  in a pattern similar to lenses  605   a ; in these implementations, slot  901   a  can be adapted to receive the distal ends of optical fiber bundles  603   a  and the mechanical assembly. 
     Referring to  FIG. 12 , which depicts common optical element  613   a  being used with an optical fiber bundle  603   b  having a similar diameter to that of slot  901   a , and can include a plurality of optical fiber bundles coupled together at common distal end  609   a , as well as along their length, in accordance with an embodiment of the present disclosure. Hence, optical fiber bundle  603   b  is configured to convey images from lenses  605   a  to one or more cameras at a common proximal end. Indeed, individual optical fiber bundles of optical fiber bundle  603   b  need not be aligned with lenses  605   a  as a proximal end of optical fiber bundle  603   b  can have a diameter that can receive light from all of lenses  605   a . The bending radius of optical fiber bundle  603   b  is larger than a bending radius of endoscope  601 , however such difference in bending radius does not preclude use of common optical element  613   a  with more typical endoscopes. 
     Referring to  FIG. 13 , which depicts an alternative system  1300  that includes an example of a flexible high-resolution endoscope  1301  that could be used with access port  12  to image tissue sample  620 , in accordance with an embodiment of the present disclosure. System  1300  is substantially similar to system  600 , with like elements having like numbers, but in a “1300” series rather than a “600” series. However, in contrast to endoscope  601 , optical fiber bundles of endoscope  1301  are coupled together at both a common distal end and a common proximal end, and are otherwise uncoupled, and cameras used with endoscope  1301  are not necessarily in a one-to-one relationship with the optical fiber bundles. 
     Still referring to  FIG. 13 , hence, endoscope  1301  comprises: a plurality of optical fiber bundles  1303 ; a plurality of lenses  1305  in a one-to-one relationship with plurality of optical fiber bundles  1303 ; and, one or more cameras  1307 . Each respective optical fiber bundle  1303 , of the plurality of optical fiber bundles  1303 , has a respective lens  1305 , of the plurality of lenses  1305 , located at a respective distal end  1309 . One or more cameras  1307  are located at a common proximal end  1311  of the plurality of optical fiber bundles  1303 . Plurality of optical fiber bundles  1303  are coupled together at a common distal end  1309  and at common proximal end  1311 , and are otherwise uncoupled from one another. As depicted, plurality of lenses  1305  are each formed in a common optical element  1313  similar to common optical element  613 . As depicted, system  1300  further comprises a controller  1315 , coupled to each of one or more cameras  1307 , and a display device  1326 . 
     Still referring to  FIG. 13 , while endoscope  1301 , as depicted, includes three cameras  1307 , in other implementations endoscope  1301  could include as few as one camera  1307  and more than three cameras  1307 , including more than four cameras  1307 . It is assumed, however, that cameras  1307  of endoscope  1301  are collectively configured to receive light from all of optical fiber bundles  1303 , and that each of one or more cameras  1307  can be arranged to receive images from one or more of plurality of optical fiber bundles  1303 . Hence, in these implementations, respective alignment of distal and proximal ends of optical fiber bundles  1303  with lenses  1305  and one or more cameras  1307  is less important than in system  600 , as each of one or more cameras  1307  can be arranged to receive images from one or more of plurality of optical fiber bundles  1303 . Controller  1315  can hence be configured to separate and/or combine images from each of one or more cameras  1307  into images corresponding to fields of view of each of lenses  1305 . 
     Still referring to  FIG. 13 , indeed while, as depicted, each of distal ends of plurality of optical fiber bundles  1303  is aligned with a respective lens  1305 , in other implementations, more than one of plurality of optical fiber bundles  1303  can be arranged to receive light from one or more of lenses  1305 , such that plurality of optical fiber bundles  1303  functions optically as a larger optical fiber bundle similar to that depicted in  FIG. 12 . Indeed, in some implementations, common optical element  1313  can be replaced with common optical element  613   a  having one larger slot  901   a  instead of individual slots. However, as each of plurality of optical fiber bundles  1303  are free to bend individually, other than at ends  1309 ,  1311 , a bending radius of endoscope  1301  is determined by the bending radii of individual optical fiber bundles  1303  rather than all of optical fiber bundles  1303  bending together. 
     Referring to  FIG. 14 , this block diagram illustrates an endoscope apparatus A, in accordance with an embodiment of the present disclosure. The endoscope apparatus A comprises: a plurality of optical fiber bundles  1401 ; a plurality of lenses  1402  in a one-to-one correspondence with the plurality of optical fiber bundles  1401 , each lens  1402  of the plurality of lenses  1402  comprising a distinct depth of field and a distinct angle of view in relation to another lens  1402  of the plurality of lenses  1402 ; and a plurality of cameras  1403  in a one-to-one correspondence with the plurality of optical fiber bundles  1402 . The apparatus A further comprises a common optical element  1404  operable with the plurality of lenses  1402 , the common optical element  1404  disposed at a common distal end of the plurality of optical fiber bundles  1402 , and the common optical element  1404  being at least one of removable and disposable. 
     Still referring to  FIG. 14 , in the apparatus A, each lens  1402  of the plurality of lenses  1402  is disposed in the common optical element  1404 . Each lens  1402  of the plurality of lenses  1402  is correspondingly disposed at a distal end of each optical fiber bundle  1401  of the plurality of optical fiber bundles  1401 . Each camera  1403  of the plurality of cameras  1403  is correspondingly disposed at a proximal end of each optical fiber bundle  1401  of the plurality of optical fiber bundles  1401 . The plurality of optical fiber bundles  1401  is coupled, together, at the common distal end. Each optical fiber bundle  1401  of the plurality of optical fiber bundles  1401  comprises a largest bending radius defining a largest bending radius of the apparatus A. The plurality of optical fiber bundles  1401  comprises a first optical fiber bundle and a second optical fiber bundle. The plurality of optical fiber bundles  1401 , the plurality of lenses  1402 , and the plurality of cameras  1403 , together, forming a three-dimensional camera. Each optical fiber bundle distal end is spaced apart from another optical fiber bundle distal end; and each lens  1402  is spaced apart from another lens  1402  to provide a plurality of distinct views. 
     Still referring to  FIG. 14 , in the apparatus A, each lens of the plurality of lenses  1402  further comprises a distinct field of view in relation to another lens  1402  of the plurality of lenses  1402 . The apparatus A further comprises a controller  1405  configured to: receive at least one image from each camera  1403  of the plurality of cameras  1403 ; and combine the at least one image from each camera  1403  of the plurality of cameras  1403  into a single higher resolution image. The controller  1405  is further configured to remove dead pixels from the at least one image from each camera  1403  of the plurality of cameras  1403 . The controller  1405  is further configured to provide a depth map by combining the at least one image from each camera  1403  of the plurality of cameras  1403 . The controller  1405  is further configured to provide the depth map by using light field processing. Each optical fiber bundle  1401  of the plurality of optical fiber bundles  1401  comprises a diameter in a range of up to approximately 2 mm. The common optical element  1404  comprises a body having a proximal end and a distal end, the distal end of the body configured to accommodate the plurality of lenses  1402 , and the proximal end of the body comprising a plurality of slots configured to correspondingly receive the plurality of optical fiber bundles  1401 , each slot of the plurality of slots correspondingly terminating at each lens of the plurality of lenses  1402  at the distal end of the body. 
     Referring to  FIG. 15 , this flow diagram illustrates a method M 1  of providing an endoscope apparatus A, as shown in  FIG. 14 , in accordance with an embodiment of the present disclosure. The method M 1  comprises: providing a plurality of optical fiber bundles  1401 , as indicated by block  1501 ; providing a plurality of lenses  1402  in a one-to-one correspondence with the plurality of optical fiber bundles  1401 , providing the plurality of lenses  1402  comprising providing each lens  1402  of the plurality of lenses  1402  with a distinct depth of field and a distinct angle of view in relation to another lens  1402  of the plurality of lenses  1402 , as indicated by block  1502 ; and providing a plurality of cameras  1403  in a one-to-one correspondence with the plurality of optical fiber bundles  1401 , as indicated by block  1503 . The method M 1  further comprises providing a common optical element  1404  operable with the plurality of lenses  1402 , providing the common optical element  1404  comprising disposing the common optical element  1404  at a common distal end of the plurality of optical fiber bundles  1401 , and providing the common optical element  1404  comprising providing the common optical element  1404  as at least one of removable and disposable, as indicated by block  1504 . 
     Still referring to  FIG. 15 , in the method M 1 , providing the plurality of lenses  1402 , as indicated by block  1502 , comprises disposing each lens in the common optical element  1404 . Providing the plurality of lenses  1402 , as indicated by block  1502 , comprises correspondingly disposing each lens  1402  of the plurality of lenses  1402  at a distal end of each optical fiber bundle  1401  of the plurality of optical fiber bundles  1401 . Providing the plurality of cameras  1403 , as indicated by block  1503 , comprises correspondingly disposing each camera  1403  at a proximal end of each optical fiber bundle  1401  of the plurality of optical fiber bundles  1401 . Providing the plurality of optical fiber bundles  1401 , as indicated by block  1501 , comprises coupling, together, the plurality of optical fiber bundles  1401  at the common distal end. Providing the plurality of optical fiber bundles  1401 , as indicated by block  1501 , comprises providing each optical fiber bundle  1401  with a largest bending radius defining a largest bending radius of the apparatus A. Providing the plurality of optical fiber bundles  1401 , as indicated by block  1501 , comprises providing a first optical fiber bundle and providing a second optical fiber bundle. Providing the plurality of optical fiber bundles  1401 , as indicated by block  1501 , providing the plurality of lenses  1402 , as indicated by block  1502 , and providing the plurality of cameras  1403 , as indicated by block  1503 , together, providing a three-dimensional camera. Providing the plurality of optical fiber bundles  1401 , as indicated by block  1501 , comprises spacing-apart each optical fiber bundle distal end from another optical fiber bundle distal end and providing the plurality of lenses  1402  comprises spacing-apart each lens  1402  from another lens  1402  to provide a plurality of distinct views. 
     Still referring to  FIG. 15 , in the method M 1 , providing the plurality of lenses  1402 , as indicated by block  1502 , comprises providing each lens  1402  of the plurality of lenses  1402  with a distinct field of view in relation to another lens  1402  of the plurality of lenses  1402 . The method M 1  further comprises providing a controller  1405  configured to: receive at least one image from each camera  1403  of the plurality of cameras  1403 ; and combine the at least one image from each camera  1403  of the plurality of cameras  1403  into a single higher resolution image, as indicated by block  1505 . Providing the controller  1405 , as indicated by block  1505 , comprises further configuring the controller  1405  to remove dead pixels from the at least one image from each camera  1403  of the plurality of cameras  1403 . Providing the controller  1405 , as indicated by block  1505 , further comprises configuring the controller  1405  to provide a depth map by combining the at least one image from each camera  1403  of the plurality of cameras  1403 . Providing the controller  1405 , as indicated by block  1505 , further comprises configuring the controller  1405  to provide the depth map by using light field processing. Providing the plurality of optical fiber bundles  1401 , as indicated by block  1501 , comprises providing each optical fiber bundle  1401  with a diameter in a range of up to approximately 2 mm. Providing the common optical element  1404 , as indicated by block  1504 , comprises providing a body having a proximal end and a distal end. Providing the body comprises configuring the distal end of the body to accommodate the plurality of lenses  1402 . Providing the body comprises providing the proximal end of the body with a plurality of slots configured to correspondingly receive the plurality of optical fiber bundles  1401 , each slot of the plurality of slots correspondingly terminating at each lens of the plurality of lenses  1402  at the distal end of the body. 
     Referring to  FIG. 16  is a flow diagram illustrates a method M 2  of imaging by way of an endoscope apparatus A, as shown in  FIG. 14 , in accordance with an embodiment of the present disclosure. The method M 2  comprises: providing the apparatus A, as indicated by block  1600 , providing the apparatus A comprising: providing a plurality of optical fiber bundles  1401 , as indicated by block  1601 ; providing a plurality of lenses  1402  in a one-to-one correspondence with the plurality of optical fiber bundles  1401 , providing the plurality of lenses  1402  comprising providing each lens  1402  of the plurality of lenses  1402  with a distinct depth of field and a distinct angle of view in relation to another lens  1402  of the plurality of lenses  1402 , as indicated by block  1602 ; and providing a plurality of cameras  1403  in a one-to-one correspondence with the plurality of optical fiber bundles  1401 , as indicated by block  1603 ; and operating the apparatus A by way of a controller, e.g., the controller  1405 , as indicated by block  1606 . The method M 2  further comprises: providing a common optical element  1404  operable with the plurality of lenses  1402 , providing the common optical element  1404  comprising disposing the common optical element  1404  at a common distal end of the plurality of optical fiber bundles  1401 , and providing the common optical element  1404  comprising providing the common optical element  1404  as at least one of removable and disposable, as indicated by block  1604 ; and providing a controller configured to: receive at least one image from each camera  1403  of the plurality of cameras  1403 ; and combine the at least one image from each camera  1403  of the plurality of cameras  1403  into a single higher resolution image, as indicated by block  1605 . 
     Hence, provided herein is a flexible endoscope that comprises of multiple optical fiber bundles which can each have about 18 kilopixels resolution, each coupled to a multi-lens array at a distal end and multiple cameras at a proximal end. Each lens on the array can convey a separate image to the distal end of each optical fiber bundle and cameras coupled to the proximal end of the optical fiber bundles acquire separate pixelated images. These lower resolution images, acquired by each of the cameras, can be merged and/or combined, and reconstructed using principles of light field imaging and processing, to produce a super-resolution image. This can allow for much higher resolution imaging than conventional endoscopes, which can allow for better diagnosis and treatment. 
     Furthermore, using light field processing of the separate images from the cameras, a depth-map of objects imaged by the lenses can be reconstructed, which can allow structures with differing depth to be more easily detected and/or seen. By taking advantage of the underlying optics of the method, omni-focusing (having all object in the scene in-focus), selective post-acquisition focusing, and depth of field control is possible post-acquisition and real-time. This post-processing can allow for removal of “dead” pixels which can be caused by broken fibers within fiber bundles without significant loss of detail. Using separate fiber bundles can also resolve flexibility issues associated with having one large fiber bundle since each smaller fiber bundle can move independently from one another and not seize when bent. 
     While devices and methods described herein have been described with respect to surgical and/or medical applications, devices and methods described herein can be used in other fields, such as in engineering and defense, particularly in scenarios where high-resolution three-dimensional imaging of a space and/or objects occurs through a small, (and even convoluted) access port. The specific embodiments described above have been shown by way of example, and it should be understood that these embodiments may be susceptible to various modifications and alternative forms. The claims are not intended to be limited to the particular forms disclosed, but, rather, to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present disclosure.