Patent Publication Number: US-11375884-B2

Title: Multi-angle rear-viewing endoscope and method of operation thereof

Description:
This application claims is a continuation of prior U.S. patent application Ser. No. 13/628,896 filed Sep. 27, 2012, now U.S. Pat. No. 9,456,735 B2, issued on Oct. 4, 2016, which claims the benefits of U.S. Provisional Patent Application Ser. No. 61/539,842 filed Sep. 27, 2011, which is incorporated herein by reference in its entirety. 
     The invention described herein was made in the performance of work under a NASA contract, and is subject to the provisions of Public Law 96-517 (35 USC 202) in which the Contractor has elected to retain title. 
     Further, each of the following patents or patent applications is incorporated herein by reference in its entirety: 
     (1) U.S. Pat. No. 7,601,119 B2, to Shahinian, entitled “Remote Manipulator with Eyeballs,” filed on Apr. 25, 2006 and issued on Oct. 13, 2009; 
     (2) U.S. Patent Application Publication No. 2009/0187072 A1 to Manohara, et al., entitled “Endoscope and System and Method of Operation thereof,” filed on Dec. 18, 2008; 
     (3) U.S. Patent Application Publication No. 2011/0115882 A1, to Shahinian, et al., entitled “Stereo Imaging Miniature Endoscope with Single Imaging Chip and Conjugated Multi-Bandpass Filters,” filed on Nov. 15, 2010; and 
     (4) U.S. patent application Ser. No. 13/628,788, filed on Sep. 27, 2012, and published as U.S. Patent Application Publication No. 2014/0085420, now U.S. Pat. No. 9,295,375, to Shahinian, et al., claiming priority to U.S. Provisional Patent Application Ser. No. 61/539,808 filed on Sep. 27, 2011, entitled “Programmable Spectral Source and Design Tool for 3D Imaging Using Complementary Bandpass Filters.” 
    
    
     The present system relates generally to medical imaging systems and, more particularly, to an endoscopic viewing system having an adjustable viewing angle which can provide forward and rear views, and a method of operation thereof. 
     Minimally invasive procedures can include surgical and other procedures, which are typically less invasive than traditional open procedures such as, for example, open surgery. A typical minimally invasive surgical (MIS) procedure usually involves the manipulation of one or more endoscopic devices that can be inserted through an opening or incision and an endoscope or the like to observe a surgical area (or field). 
     During minimally invasive endoscopic (e.g., laparoscopic) surgical procedures, surgeons typically utilize endoscopes to view a surgical field and thereby acquire a clear view of anatomical structures in the surgical field. As minimally invasive surgery is typically performed through a small opening or incision, surgeons cannot view the surgical field directly but must rely instead upon an endoscope to provide an image of a surgical field. As the small opening or incision through which the endoscope passes is typically about the size of a dime, the range of operation of the endoscope within a surgical field is typically limited. Further, as most endoscopes typically provide a forward line-of-sight image as opposed to a rear view, a surgeon may have to rely upon a compromised view of a surgical field during a minimally invasive surgical procedure. 
     With respect to endoscopes, these devices typically fall into two types: a fixed (or rigid) type and a flexible type. The fixed type typically includes a fixed body portion and the flexible type includes a flexible body portion. 
     With regard to the typical fixed-type endoscope, the viewing portion (which is used to obtain real-time images) on this type of endoscope only provides a forward view as opposed to a rearview (e.g., a view towards a handle side of the endoscope). Thus, the typical fixed-type endoscope can only provide a forward view of an operating field. Accordingly, in order to obtain a rear view of a surgical field, it may be necessary to insert another endoscope into another incision. However, making another incision may not always be possible and may also have a detrimental effect on a patient and on a surgical procedure being performed. For example, it may be difficult or impossible to use a second fixed-type endoscope to obtain a rear view during cranial surgery. Further, conventional flexible endoscopes may be ill suited for cranial surgery as they can typically only provide large radius bends. 
     Further, with regard to a flexible-type endoscope, although this endoscope can be manipulated to move a viewing portion, it is difficult to determine where the viewing portion is located and a direction in which the viewing portion is pointing. Accordingly, it is difficult to determine a viewing orientation of a flexible-type endoscope and, thus, difficult to determine a spatial orientation with respect to a surgical field. Further, although a conventional flexible-type endoscope can be manipulated to form bends, these bends are large radius bends and ill suited for cranial MIS procedures. Accordingly, flexible-type endoscopes may not be suitable for viewing a surgical field during surgery. 
     Accordingly, there is a need for an endoscope that can provide a rear view of a surgical field. One object of the present systems, methods, apparatuses, and devices (hereinafter system unless context indicates otherwise) is to overcome the disadvantages of conventional systems and devices. According to one illustrative embodiment, a medical imaging system may include an endoscope including: a rigid section having opposed first and second ends and an opening situated between the first and second ends, the rigid section defining a longitudinal axis; a handle portion coupled to a first end of the rigid section and having first and second scissor-type handles suitable for grasping by a user; and a base part having an image capturing device, the base part situated at the second end of the rigid section and coupled to the first handle of the scissor-type handles such that a displacement of the one of the scissor-type handles relative to the other of the scissor-type handles causes a change in a viewing direction of image capturing device. 
     In addition or alternate to the scissor-type handles at the proximal end of the endoscope, any other suitable moving means may be used, such as a joystick that controls an actuator to provide movement of the distal end of the endoscope in response to moving the joystick by the operator. The joystick may be at the proximal end of the endoscope and/or wirelessly connected to an actuator of the endoscope. 
     In accordance with an aspect of the present system, there is disclosed a rear-viewing endoscope, including: a rigid section having first and second ends, and a cavity situated between the first and second ends, the rigid section having a longitudinal length and defining a longitudinal axis (LAR); a flexible section having proximal and distal ends, the proximal end coupled to the second end of the rigid section; an imaging unit having first and second ends and a cavity situated between the first and second ends, the second end of the imaging unit coupled to the distal end of the flexible section; an objective lens assembly comprising a complementary multiband (e.g., triple) bandpass filter (CMBF) pair situated within the cavity of the imaging unit for filtering collimated image rays passing therethrough so as to output filtered image rays; and a camera which receives the filtered image rays and forms corresponding video information for stereoscopic imaging. 
     It is envisioned that objective lens assembly may include a first lens group, wherein the collimated image rays pass which pass through the CMBF pair were collimated by the first lens group. Further, the collimated image rays which pass through the CMBF pair may have a minimal angle of incidence (AOI) which is less than or equal to a threshold angle of incidence (TAOI) value. Moreover, the TAOI may have a value of 25 degrees. Further, objective lens assembly may further include a second lens group which receives the filtered image rays from the CMBF pair and focuses the filtered image rays upon an imaging plane. Moreover, the camera may further include a detector array at the imaging plane, the detector array detecting the filtered image rays focused upon the imaging plane and forming corresponding stereoscopic image information. It is also envisioned that CMBF pair may be formed upon a surface of a lens of the second lens group and/or formed on a dual aperture lens situated between the first and second lens groups, where a right aperture has a right CMBF and the left aperture has the left CMBF, where the right CMBF is the complement of the left CMBF. 
     In accordance with yet another aspect of the present system, there is provided a method of forming a rear-viewing endoscope to capture stereoscopic images of a subject, the method may include one or more acts of: obtaining a rigid section having first and second ends, and a cavity situated between the first and second ends, the rigid section having a longitudinal length and defining a longitudinal axis (LAR); coupling a flexible section to the rigid section; coupling an imaging unit having first and second ends and a cavity situated between the first and second ends to the flexible section; placing an objective lens assembly comprising a complementary multiband bandpass filter (CMBF) pair within the cavity of the imaging unit, the CMBF being configured to filter image rays incident thereupon and output corresponding filtered image rays; and placing a camera having a sensor array in the cavity and to a first side of the CMBF pair. 
     The method may further include an act of placing first and second lens groups in the lens assembly and about opposite sides of the CMBF, wherein the first lens group is configured to collimate image rays passing therethrough and provide collimated image rays to the CMBF pair. Moreover, the first lens group may be configured such that the collimated image rays have a minimal angle of incidence (AOI) which is less than or equal to a threshold angle of incidence (TAOI) value. The TAOI value may be 25 degrees. However, other values and/or ranges are also envisioned. Moreover, it is envisioned that the second lens group may be configured to: receive the filtered image rays output from the CMBF pair; and focus the filtered image rays upon the sensor array of the camera. Further, the camera may be configured process the image rays focused upon the sensor array and form corresponding stereoscopic image information. The method may further include acts of forming the CMBF pair upon a surface of a lens of the second lens group, and/or placing a limiting aperture portion between the first and second lens groups, and forming the CMBF pair upon a surface of the limiting aperture. 
     In accordance with yet a further aspect of the present system, there is disclosed a method of capturing stereoscopic images of a subject using a rear-viewing endoscope having an objective lens assembly having first and second lens groups and a complementary multiband bandpass filter (CMBF) pair situated between the first and second lens groups, a limiting aperture, and a camera having a sensor array, the method may include one or more acts of acts of: receiving image rays of the subject by the first lens group; collimating, by the first lens group, the received image rays to form collimated image rays and providing the collimated image rays to the CMBF pair; filtering, by the CMBF pair, the collimated image rays to form corresponding filtered image rays; focusing, by the second lens group, the filtered image rays upon the sensor array of the camera; and sensing, by the sensor of the camera, the focused filtered image rays and forming corresponding stereoscopic image information. 
     In accordance with the method, the collimated image rays may be provided to the CMBF pair have a minimal angle of incidence (AOI) which is less than or equal to a threshold angle of incidence (TAOI) value. Further, the TAOI value may be 25 degrees. The method may further include an act of controlling, by the limiting aperture, an intensity level of the collimated image rays. 
    
    
     
       The invention is explained in further detail, and by way of example, with reference to the accompanying drawings wherein: 
         FIG. 1  shows a side view of an endoscope in accordance with embodiments of the present system; 
         FIG. 2  is a schematic block diagram of the endoscope shown in  FIG. 1  in accordance with embodiments of the present system; 
         FIG. 3A  is a side view of a portion of an endoscope in accordance with embodiments of the present system; 
         FIG. 3B  is a side view of a portion of an endoscope in accordance with embodiments of the present system; 
         FIG. 3C  is a side view of a portion of an endoscope in accordance with embodiments of the present system; 
         FIG. 3D  is a side view of a portion of the endoscope shown in  FIG. 3C  in accordance with embodiments of the present system; 
         FIG. 3E  is another side view of a portion of the endoscope shown in  FIG. 3C  in accordance with embodiments of the present system; 
         FIG. 4A  is a perspective view of a link pair in accordance with embodiments of the present system; 
         FIG. 4B  is a perspective view of the link pair in a neutral position in accordance with embodiments of the present system; 
         FIG. 4C  is a front view of the link pair in accordance with embodiments of the present system; 
         FIG. 4D  is a top view of the link pair in accordance with embodiments of the present system; 
         FIG. 4E  is an exploded perspective view of the link pair of  FIG. 4B  in accordance with embodiments of the present system; 
         FIG. 4F  is an exploded front view of the link pair of  FIG. 4B  in accordance with embodiments of the present system; 
         FIG. 4G  is an exploded side view of the link pair of  FIG. 4B  in accordance with embodiments of the present system; 
         FIG. 4H  is a side perspective view of the second link in accordance with embodiments of the present system; 
         FIG. 4I  is a plan view of the second link  411 B taken along lines  4 I- 4 I of  FIG. 4F  in accordance with embodiments of the present system; 
         FIG. 4J  is a bottom view of the link pair  411  in accordance with embodiments of the present system; 
         FIG. 4K  is a front view of yet another link pair in accordance with embodiments of the present system; 
         FIG. 5A  is an exploded perspective view of a link pair in accordance with embodiments of the present system; 
         FIG. 5B  is an exploded front view of the link pair of  FIG. 5A  in accordance with embodiments of the present system; 
         FIG. 5C  is an exploded side view of the link pair of  FIG. 5A  in accordance with embodiments of the present system; 
         FIG. 6  is a side view of a portion of an endoscope in accordance with embodiments of the present system; 
         FIG. 7  is a side view of a portion of an endoscope in accordance with embodiments of the present system; 
         FIG. 8  is a side view of a portion of an endoscope in accordance with embodiments of the present system; 
         FIG. 9A  is a side view of a portion of a link pair according to embodiments of the present system; 
         FIG. 9B  is a side view of a portion of the link pair rotated 90 degrees according to embodiments of the present system; 
         FIG. 9C  is a side view of a portion of the link pair rotated 45 degrees according to embodiments of the present system; 
         FIG. 10A  is a partially cutaway perspective view of a portion of an endoscope  1000  according to an embodiment of the present system; 
         FIG. 10B  is a cutaway side view of a portion of the endoscope according to embodiments of the present system; 
         FIG. 10C  is a front view of a CMBF pair of the endoscope taken along lines  10 C- 10 C according to an embodiment of the present system; 
         FIG. 10D  is a front view of another CMBF pair according to embodiments of the present system; 
         FIG. 10E  is a spectral plot of light transmission by an ideal complementary triple-band bandpass CMBF pair in accordance with embodiments of the present system; 
         FIG. 11  shows a flow diagram that illustrates a process performed on an endoscope system in accordance with embodiments of the present system; 
         FIG. 12  is a cutaway side view of a lens array in accordance with embodiments of the present system; 
         FIG. 13A  is a light ray trace of a lens array having an 80 degree FOV in accordance with embodiments of the present system; 
         FIG. 13B  is a screenshot of graph of square wave MTF vs. special frequency for the lens array having an 80 degree FOV; 
         FIG. 13C  is a screenshot of graph of relative illumination vs. Y field for the lens array having an 80 degree FOV; 
         FIGS. 14A, 15A, 16A, 17A, 18A, and 19A  show light ray traces of 100, 120, 130, 140, 150, and/or 160 degree FOV lenses, respectively, in accordance with embodiments of the present system; 
         FIGS. 14B, 15B, 16B, and 17B, 18B, and 19B  show graphs of relative illumination vs. Y field for 100, 120, 130, 140, 150, and/or 160 degree FOV lenses, respectively, in accordance with embodiments of the present; 
         FIGS. 14C, 15C, 16C, 17C, 18C, and 19C  shown graphs of relative illumination vs. Y field for 100, 120, 130, 140, 150, and/or 160 degree FOV lenses, respectively, in accordance with embodiments of the present system; 
         FIG. 20  shows a portion of a system in accordance with an embodiment of the present system; and 
         FIG. 21  shows a portion of code used to control actuators to position the imaging unit. 
     
    
    
     The following description of certain exemplary embodiments is merely exemplary in nature and is in no way intended to limit the invention or its applications or uses. In the following detailed description of embodiments of the present systems and methods, reference is made to the accompanying drawings which form a part hereof, and in which are shown by way of illustration specific embodiments in which the described systems and methods may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the presently disclosed systems and methods, and it is to be understood that other embodiments may be utilized and that structural and logical changes may be made without departing from the spirit and scope of the present system. 
     The following detailed description is therefore not to be taken in a limiting sense, and the scope of the present system is defined only by the appended claims. The leading digit(s) of the reference numbers in the figures herein typically correspond to the figure number. Moreover, for the purpose of clarity, detailed descriptions of certain features will not be discussed when they would be apparent to those with skill in the art so as not to obscure the description of the present system. 
     In one embodiment, there is provided system, apparatus, device, and/or method for systematically viewing a surgical field which may include an organ using a rear viewing endoscope so as to standardize endoscopy procedures which may reduce surgical time. Accordingly, medical costs and operating time may be reduced, and quality of care may be enhanced. 
     A side view of an endoscope  100  in accordance with embodiments of the present is shown in  FIG. 1 . An elongated section (or barrel section)  102  has a proximal end  102 B and a distal end  102 A and a cavity  118  situated therebetween. The elongated section  102  may define a longitudinal axis (LA). The proximal end  102 B of the elongated section  102  is coupled to control portion, such as including an actuation unit  104 , via a mechanical coupling  110  and the distal end  102 A is coupled to a flexible portion  108 . The flexible portion  108  includes a plurality of links  111  coupled in a serial manner. An imaging unit  106  has proximal and distal ends  106 B and  106 A, respectively, the former of which is coupled to the elongated section  102  via the flexible portion  108 . The imaging unit  106  includes a cavity in which an image capture device  150  such as a still or video camera situated. The imaging unit  106  has a longitudinal axis (LAI) which, for the sake of clarity, may correspond with a line of site (LOS) of the image capture device  106 . However, it yet other embodiments, it is envisioned that the LOS may change relative to the LAI or differ from the LAI. The imaging unit  106  may rotate (e.g., see, arrow  109 ) about one or more axis relative to the elongated section  102  to provide a rear viewing image as illustrated by arrow  109 . Accordingly, an angle (alpha) formed by the intersection of the LOS and the LA (in one or more planes) may have a range of substantially 0 through +/−180 degrees. However, other ranges are also envisioned such as 0 through +/−140 degrees or, for example, 0 through +/−half of a field of view (FOV) of the image capture device  106  as will be discussed elsewhere, where the FOV of the image capture device  106  is 90 degrees, for example, and thus providing a rear view parallel to the longitudinal axis (LA) elongated section  102 . 
     The proximal end  102 B of the elongated section  102  is coupled to the control portion  104  via the mechanical coupling  110 . The mechanical coupling  110  is configured to be coupled to a positioning linkage and/or a user interface device  112  such as an arm, a handle, joystick, mouse, keyboard, touch pad or display, and/or any other user interface device, where the position of the positioning linkage may be controlled by the system and/or user using the user interface device  112 . Accordingly, the mechanical coupling may include one or more surfaces and/or threaded areas suitable for coupling to the positioning linkage. Accordingly, for example, in certain embodiments, the linkage may be coupled to a robotic arm which may be remotely controlled by the system and/or user via any of the user interface devices  112  noted above and the like. However, in yet other embodiments, it is envisioned that the linkage may be manually manipulated and/or controlled by a user, such as also via any of the user interface devices  112 . Although the mechanical coupling  110  is situated between the elongated section  102  and the control portion  104 , in yet other embodiments it is envisioned that the elongated section  102  is situated between (and coupled each of) the control portion  104  and the mechanical coupling  110 . 
     A controller  114  may control the overall operation of the endoscope  100  and may be located within the control portion  104  or may be situated elsewhere in whole or in part. The controller  114  may include one or more processors such as microprocessors or other logic devices which may me locally or remotely situated relative to each other. The controller  114  may be coupled to an actuator  116 , the image capture device  150 , a memory  122 , a network  126 , and/or to a user interface (UI)  112  via a wired and/or wireless (transmission/reception (Tx/Rx)) connection. Accordingly, one or more of the controller  114 , the actuator  116 , the image capture device  150 , the memory  122 , the network  126 , and/or to a user interface (UI)  112  may include a transmitter and/or receiver. The UI  112  may include one or more of a rendering device such as a display, a speaker, a haptic device, etc., to render information such as positioning information, setting information, sensor information, image information (e.g., content, etc.), positioning information (e.g., for reporting positions of one or more portions of the endoscope  100 ) for the convenience of the user. Moreover, the UI  112  may include a user input device such as a mouse, a touchpad, a joystick, a keyboard, a touch-screen, etc. The network  126  may include any suitable network such as a proprietary network, a local area network (LAN), a wide area network (WAN), the Internet, an intranet, a local bus, etc. The controller  114  may receive information from the memory  122  and may store information (e.g., image information, etc.) therein. 
     The plurality of links  111  (e.g., comprising first and second links forming a link pair) may be flexibly coupled to each other using any suitable method such as one or more pins, a flexible coupling (e.g., a live hinge), etc. Movement of one or more of the links  111  relative to each other may be controlled using control wires  120 , such as made of stainless steel, which are attached to at least one corresponding link  111  of the plurality of links  111  and the actuator  116 . The actuator  116  may include one or more actuators (e.g., solenoids, motors, electronic control circuitry, drivers, etc.) to control a tension and/or position of each of the control wires  120  under the control of the controller  114 . For example, if the tensioning members are shape memory alloy (SMA) wires, the actuator may include an SMA control system which may receive control signals from the controller  114  and output a corresponding current and/or voltage to control a length and/or tension of one or more corresponding SMA wires. A longitudinal length of the elongated section  102  may be set so that control lines having a sufficient length for a desired amount of stretch may be placed within the cavity  118  of the elongated section  102  without folding the control wires. When heated, the control wires may contract a known amount Δ sma  which, when using Flexinol™ as a control wire material has been found to be about 3% of its total length (L sma ) when heated to maximum temperature levels, which are within operating limits of the present system. Further, assuming a link requires a control wire to travel a distance D cont  for full deflection of the link about its hinge axis (HA) (e.g., from 0 degrees to full deflection), then a relationship between the Δ sma , L sma , and D cont  may be defined using equation 1 below.
 
 L   sma *Δ sma   =D   cont   Eq. (1)
 
     Thus, assuming a link requires D cont =3 mm and Δ sma =3%, then the L sma  should be set to 100 mm. Thus, a length of the elongated section  102  may be set so that this desired length of SMA may be used. However, if a shorter length of the elongated section is preferred, the SMA may be folded by, for example, wrapped it around one or more tensioning pulleys. Further, the SMA may be coiled to increase a shrinkage rate per linear length. It has been found that an angle (deflection) to force ratio may be substantially linear. Accordingly, angles and/or forces may be easily determined using linear mathematical methods by, for example, a controller of the system. The control wires  120  may run through the cavity  118  of the elongated section  102 . A loop or a sheath may be situated about at least a portion of one or more control wires  120  to route the control wire, insulate the control wire, and/or reduce friction between the control wire and adjacent components. Each control wire  120  may include a shape memory allow (SMA) portion  221  having a known resistance R SMA . (e.g., see,  FIG. 2 ). 
       FIG. 2  is a schematic block diagram  200  of the endoscope  100  shown in  FIG. 1  in accordance with embodiments of the present system. The actuators  116  may include a plurality of drivers  258  each including a switch  252 , a power source Vin, and a limiting resistor R coupled in series with each other. An actuator controller  250  may be coupled to the controller  114  and to each of the drivers  258 . Accordingly, the actuator controller  250  may process signals received from the controller  114  and output corresponding control signals (e.g., Pulse Width Modulation (PWM) signals) to control corresponding drivers  258  in accordance with the signals received from the controller  114 . The PWM control signals may be coupled to a switch (e.g., a gate G) of a corresponding driver  258  of the drivers  258  so as to control power output by the corresponding driver  258  of the drivers  258 . The signals received from the controller  114  may include address information which may identify a corresponding driver  258  of the drivers  258  to control. Accordingly, the actuator controller  250  may include an addressable device (e.g., a multiplexor (MUX)) to select a driver  258  of the drivers  258  to control. Sensors  260  may be provided and may include for example, temperature sensors, position sensors (e.g., rotational position sensors, orientation sensors, etc.), pressure sensors, current/voltage sensors, etc. The sensors  260  may provide corresponding sensor information such as feedback (FDBK) information (e.g. current/voltage feedback) to one or more of the controller  114  and the actuators  116 . The FDBK information (e.g., current feedback information of the feedback information) may be processed by the controller  114  to adjust a current and/or voltage to be imposed across a corresponding the SMA  221 . 
     Outputs of each of the drivers  258  (e.g., via source S or drain D) are correspondingly electrically coupled across at least a portion of an SMA  221  of a corresponding control wire  120 . Each control wire  120  is coupled to an anchor  231  to prevent movement of the corresponding control wire  120  and to a corresponding link  111 , at connections  123  such that each link  111  includes pair of control wires  120 . When a tension of a control wire  111  is increased, it causes rotation of a link  111  about its rotational axis (RA). The SMA portion  221  of each control wire  111  may be heated to cause it to shorten in length and, thus, increase tension. To heat the SMA portion  221 , a corresponding driver  258  may apply a current or voltage across the SMA  221  coupled thereto. As methods to control SMA wires are known in the art, a further description thereof will not be given. 
     However, in yet other embodiments, it is envisioned that other actuation methods may be used. For example, a motor/pulley, a cable driven system, a manual system, a gear driven rotation system, linear actuators, solenoids, magnetic systems, etc., may be used. The controller  114  may receive user inputs via a user input device such as a joystick  213 , process the user inputs, and control the actuators  258  to output power accordingly. The image capture device  150  may transmit content to the controller  114  and the controller  114  may render the content on a UI of the system such as a display  213  for the convenience of the user. Further, the controller  114  may store the content and/or other information (e.g., settings, parameters, time, metadata, etc.) on a memory of the system such as memory  262  for later use. 
     The image capture device  150  may include any suitable device for capturing video and/or still images and/or transmitting these captured images using wired and/or wireless methods. Accordingly, the image capture device  150  may, include for example, one or more of a controller, a complementary metal-oxide semiconductor (CMOS) array, a charge-coupled device (CCD) array, one or more optical elements, a power source, a transmitter. The one or more optical elements may include lenses, prisms, mirrors, and CMBF as described in US 2011/0115882, which is incorporated herein by reference in its entirety, and other optical elements as needed. In one embodiment, it is envisioned that the image acquisition device may include, for example, a focal plane array such as a Thin Observation Module by Bound Optics (TOMBO) imaging system as is known in the art. In yet other embodiments, it is envisioned that the image acquisition device may include an encapsulated real-time wireless imaging apparatus. In yet other embodiments, it is envisioned that the image acquisition device may include, for example, a digital imaging camera such as, for example, CMOS and/or CCD detectors. However, regardless of the type of image acquisition device that is used, the device should be configured and arranged such that the images corresponding with a rear view (e.g., corresponding with a rearward field of view) of a surgical field may be obtained when desired. Although a wireless image acquisition device is described, it is also envisioned that the image acquisition device may include a wired transmission system which may transmit acquired images using an electrical connection and/or a fiber-optic link. 
     With regard to the flexible portion  108 , this portion includes a plurality of links  111  coupled in a serial manner to each other in a modular fashion. Each coupled link pair may have a range of motion (RoM) which may be set by the user and/or system. For example, some coupled link pairs may have a RoM of +/−60 degrees while others may have a range of +/10 degrees. Further, in yet other embodiments, an asymmetrical RoM may be employed. For example, a RoM of +180 through −20 degrees, or 0 degrees (e.g., from the longitudinal axis (LA) of the elongated section  102 ) through a maximum degree threshold which is about 180 degrees or less. Thus, the RoM of a link pair may vary. Further, link pairs may be mixed and/or matched. For example, by combining a link from a 90 degree RoM link pair with a link from a 45 degree RoM link pair may yield a link pair having a RoM of 490+45)/2=67.5 degree RoM link pair. Further, a desired RoM may be obtained by adding link pairs serially to each other. For example, three link pairs each having a RoM of +−45 degrees may serially attached to each other to obtain a +/−135 degree RoM. This is more clearly illustrated in with reference to  FIGS. 3A through 3E  which illustrate embodiments of the flexible portions  308 A- 308 C in accordance with embodiments of the present system. 
       FIG. 21  shows program code for controlling an actuator in accordance with embodiments of the present system. 
     Referring to  FIGS. 3A through 3C , flexible portions  308 A through  308 C, respectively, couple an elongated section  302  to a distal portion  306 . The elongated section  302  is similar to the elongated section  102  and the distal portion  306  is similar to the distal portion  106 . However, the flexible portions  308 A through  308 C, of  FIGS. 3A through 3E , respectively, include modular links  311 A through  311 C, respectively, each having different RoM. Further, the flexible portions  308 A through  308 C may each have a different number of links  311 . For example, with reference to  FIG. 3A  the flexible portion  308 A may provide total symmetric RoM of +/−90 degrees (e.g., of the distal portion  306  relative to the elongated section  302 ) using two links  311 A (each being substantially similar to the links  111  of  FIG. 1 ) each having a RoM of about +/−45 degrees. Similarly, with reference to  FIG. 3B  the flexible portion  308 B may provide a similar total RoM of +/−90 degrees using three links  311 B each having a RoM of about +/−30 degrees. Moreover, with reference to  FIGS. 3C through 3E  the flexible portion  308 C may provide a total asymmetric RoM of between +52 degrees (see,  FIG. 3D ) and −49 degrees (see,  FIG. 3E ) using four links  311 C each having a RoM of between (52 degrees/4 degrees/link)=+13.0 degrees and −(49/4)=−12.25 degrees.  FIG. 3C  illustrates a neutral position in which the longitudinal axis (LA) of the distal portion  306  relative to the elongated section  302  is about 0 degrees, providing a front field of view (FOV) which may be a desired position for insertion into a volume of interest (VOI). Thus, assuming a flexible portion is formed using one or more links(i) with a total of N links, the total RoM of flexible portion may be expressed using equation 2 below. 
     
       
         
           
             
               
                 
                   
                     RoM 
                     Total 
                   
                   = 
                   
                     
                       ∑ 
                       
                         i 
                         = 
                         1 
                       
                       N 
                     
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     A perspective view of a link pair  411  in accordance with embodiments of the present system is shown in  FIG. 4A . The link pair  411  is formed from first and second links  411 A and  411 B, respectively, which are coupled to each other so as to rotate about a link axis LnA as illustrated by arrow  491 . The first link  411 A has proximal and distal ends  431  and  432 , respectively, and a body  425  through which one or more openings  417  pass. The one or more openings  417  may be configured to provide for the passage of video conduits (e.g., a fiber optic video line, etc.), power lines, and/or control lines to pass therethrough. Flanges  415  extend from the body  425  and each include a hinge pin  418  extending therefrom. The body  425  may include a mounting lug  419  at the proximal end  431 . 
     The second link  411 B has a body  429  through which one or more openings  421  pass and proximal and distal ends  433  and  435 , respectively. The opening  421  is configured to provide for the passage of video conduits (e.g., a fiber optic video line, etc.), power lines, and/or control lines to pass therethrough. Flanges  413  extend from the body  429  and each includes an opening  427  configured to receive the hinge pin  418  so as to be coupled to the first link  411 A and to form a hinge. A distal end  435  of the body  429  includes an opening  421  configured to receive a mounting lug such as the mounting lug  419  or a mounting lug of an elongated section or distal portion. The mounting lug  419  may be configured to be coupled to an opening  421  of an adjacent link  411 B or an opening of an elongated section or distal portion (e.g., using a friction fit, threaded mount, adhesives, etc.). The first and/or the second link  411 A,  411 B may include an attachment portion  423  configured to fixedly attach one or more control lines. A location of the attachment portion  423  may be adjusted so as to obtain full rotation when a control line attached to the attachment portion  423  is fully tensioned. 
     Another perspective view of the link pair  411  in a neutral position in accordance with embodiments of the present system is shown in  FIG. 4B . In the neutral position, the first and second links  411 A and  411 B are rotated about 0 degrees relative to each other about their corresponding link axes LnA and may be considered to be substantially aligned with each other about the link axes LnA. 
     A front view of the link pair  411  in accordance with embodiments of the present system is shown in  FIG. 4C . 
     A top view of the link pair  411  in accordance with embodiments of the present system is shown in  FIG. 4D . 
     An exploded perspective view of the link pair  411  of  FIG. 4B  in accordance with embodiments of the present system is shown in  FIG. 4E . The second link is shown rotated about 90 about its longitudinal axis LLA for sake of illustration. 
     An exploded front view of the link pair  411  of  FIG. 4B  in accordance with embodiments of the present system is shown in  FIG. 4F . 
     An exploded side view of the link pair  411  of  FIG. 4B  in accordance with embodiments of the present system is shown in  FIG. 4G . 
     A side perspective view of the second link  411 B in accordance with embodiments of the present system is shown in  FIG. 4H . 
     A plan view of the second link  411 B taken along lines  4 I- 4 I of  FIG. 4F  in accordance with embodiments of the present system is shown in  FIG. 4I . 
     A bottom view of the link pair  411  in accordance with embodiments of the present system is shown in  FIG. 4J . 
     A front view of yet another the link pair  411 K in accordance with embodiments of the present system is shown in  FIG. 4K . The link pair  411 K includes first and second links  411 AK and  411 BK, respectively, which are similar to the first and second links  411 A and  411 B, respectively, of  FIG. 4A . However, the first link  411 AK includes a single center flange  415 K rather than two flanges  415  of the first link  411 A. Further, the second link  411 BK includes flanges  413 K configured to fit about and engage the single center flange  415 K as opposed to being situated between flanges  415  of the link pair  411 . 
     An exploded perspective view of a link pair  511  in accordance with embodiments of the present system is shown in  FIG. 5A . The link pair  511  includes first and second links  511 A and  511 B, respectively. The first link  511 A is similar to the first link  411 A of  FIG. 4A . Accordingly, similar reference numerals are used. The second link  511 B is similar to the second link  411  and, thus, includes a center opening  421  and flanges  413  extending from a body  529 . However, unlike the second link  411 , the second link  511  includes a second pair of flanges  515  extending from the body  529 . The flanges  515  are similar to the flanges  415  of the first link  411 A of  FIG. 4A  and are configured to receive flanges, such as flanges  413  of an adjacent second link  411 B. Accordingly, the second link  511 B may be considered a hybrid link comprising a first link (e.g.,  411 A) and a second link ( 411 B) formed integrally with each other. Further, the second link  511 B is shown rotated about 90 about its longitudinal axis LLA for sake of illustration. 
     The links  411  and  511  may include stops which may limit travel of the first and second links (e.g.,  411 A and  411 B or  511 A and  511 B) relative to each other once the first and second links are rotated to an extreme position relative to each other about their link axis LnA shown in  FIG. 4A  (e.g., +/−35, 45, 90, etc. degrees). The stops may be configured to provide symmetrical rotation (e.g., +/−90 degrees of travel), or asymmetrical travel (e.g., 0 through 90 degrees travel) of the first and second links relative to each other about their link axis LnA. Although certain ranges are shown, other ranges are envisioned. 
     An exploded front view of the link pair  511  of  FIG. 5A  in accordance with embodiments of the present system is shown in  FIG. 5B . 
     An exploded side view of the link pair  511  of  FIG. 5A  in accordance with embodiments of the present system is shown in  FIG. 5C . 
     For the sake of clarity, it will be assumed that a link pair comprises first and second links coupled to each other and rotating about a single link axis LnA relative to each other. 
       FIG. 6  is a side view of a portion of an endoscope  600  in accordance with embodiments of the present system. The endoscope  600  is similar to the endoscope  100  and includes an elongated section  602  and an imaging unit  606  coupled to the elongated section  602  by a flexible portion  608 . The elongated section  602  and the imaging unit  606  are similar to the elongated section  102  and the imaging unit  106 , respectively. However, the flexible portion  608  includes 8 link pairs rather than 5 link pairs of the endoscope  100 . Further, the imaging unit  606  is shown substantially rotated about 180 degrees with its line-of-site (LOS) substantially parallel to a longitudinal axis of the elongated section  602 . For the sake of clarity, it will be assumed that the LOS of the imaging unit  602  and a longitudinal axis of the imaging unit  606  are substantially aligned with each other. A controller may control certain links to rotate in a positive direction about their corresponding link axis (LnA) as shown by arrow  671  and may control other links to rotate in a negative direction about their corresponding link axis (LnA) as shown by arrow  673 . Accordingly, a distance (DEI) between the elongated section  602  and the imaging unit  606  when the imaging unit  606  is rotated towards the elongated section (e.g., 180 degrees as shown) may be reduced. Further, it is envisioned that the controller may control certain link pairs to remain rotationally stationary, if desired. 
       FIG. 7  is a side view of a portion of an endoscope  700  in accordance with embodiments of the present system. The endoscope  700  is similar to the endoscope  600  and similar numerals are used for the elongated section  602  and the imaging unit  606 . However, a flexible portion  708  includes two link pairs  711  as opposed to 8 link pairs of the endoscope  600 . Rotation of each of the link pairs  711  may be about their respective axes is equal to about 180 degrees. However, other values and/or ranges are also envisioned. 
     Thus, an angular rotation of each link pair Lr (degrees) (when each link rotates in the same direction (c.f.  608  and  708 ) may be determined by diving the total rotation Tr of the imaging unit  706  relative to the elongated unit  702  by the number of link pairs Nlp (e.g., 2 in the present example). Thus, Lr=Tr/Nlp. Accordingly, in the present example, Lr=180/2=90 degrees. In the present example, it will be assumed that each link unit has the same rotation (e.g., positive in the present example) as other link pairs. However, it is also envisioned link pairs may have extreme travel rotations which differ from one another. For example, to obtain the 180 degrees of rotation of the imaging unit relative to the elongated section using two link pairs, a first link pair may rotate 45 degrees about its link axis and the second link pair may rotate 135 degrees. The controller may control rotation of the link pairs and may receive rotational position feedback information from, for example, rotational encoders of each link pair. 
     As described in connection with  FIG. 4A , each link includes a pair of links  411 A and  411 B. Thus, in the embodiment shown in  FIG. 7 , the endoscope comprises a rigid section having opposed first and second ends, and a first cavity situated between the first and second ends, the rigid section having a longitudinal length and defining a longitudinal axis; a first link pair comprising first and second link portions coupled to each other and rotating about a first hinge axis; a second link pair coupled serially to the first link pair and comprising third and fourth portions coupled to each other and rotating about a second hinge axis; an imaging section coupled to the second link pair and having a second cavity situated between first and second ends; a camera situated within the cavity of the other cavity; where the plurality of first and second flexible links pairs are configured to rotate the imaging unit at least 90 degrees relative to the longitudinal axis of the rigid section. Further, the second and third link pairs may be formed integrally with each other, and the first and second hinge axes may be substantially parallel to each other. In one embodiment, when an angle of the imaging unit is rotated more than 90 degrees relative to the rigid section, a rotational angle (RA) of the first link pair and an RA of the second link pair is substantially equal to 180 degrees. For example, RA 1  may be an angle of rotation of the first and second link portions relative to each other about the first hinge axis, and RA 2  may be an angle of rotation of the third and fourth link portions relative to each other about the second hinge axis, where the RA 1 +RA 2 =180 degrees. As noted above, these two angles may be the same, namely, 90 degrees, or may be differ from one another where the sum of the two angles is 180 degrees to provide the rear view, where each joint pair rotates about its hinge axis with an angle which is equal to one of the two angles RA 1 , RA 2 . 
       FIG. 8  is a side view of a portion of an endoscope  800  in accordance with embodiments of the present system. The endoscope  800  is similar to the endoscope  600  and similar numerals are used for the elongated section  602  and the imaging unit  606 . However, a flexible portion  808  includes a single link pair  811  as opposed to 8 link pairs of the endoscope  600 . A field of view (FOV) in degrees corresponds with an angle having walls Wa 1  and Wa 2  and defines a line of sight (LOS) which corresponds with a center axis of the FOV. When at an extreme position (as shown), the wall Wa 1  adjacent to the elongated section  602  is substantially parallel to a longitudinal axis (La) of the elongated section  602 . Accordingly, a line of sight of the outer wall Wa 1  is along the longitudinal axis of the elongated section  602 . Further, an angle of deflection β of the single link pair  811  may be equal to FOV/2 (degrees). 
     A side view of a portion of a link pair  900  according to embodiments of the present system is shown in  FIG. 9A . The link pair  900  includes first and second links  900 A and  900 B, respectively, and is shown in a neutral position. Each of the first and second links  900 A and  900 B, respectively, include angular limiters ALs  937  which may engage with an adjacent AL  937  of an adjacent link  900 A,  900 B of the link pair  900  so as to limit angular rotation of the first and second links  900 A and  900 B, respectively, relative to each other about their link axis to a desired angular rotation and thus, limit rotation of the link pair  900  to a desired rotational value (e.g., +/−90 degrees). Although the ALs  937  are shown on an external portion of the link pair  900 , in yet other embodiments, the ALs may be located in other positions such as an internal position of a corresponding link pair. 
     A side view of a portion of the link pair  900  rotated 90 degrees according to embodiments of the present system is shown in  FIG. 9B . At the extreme travel position (e.g., at + or −90 degrees in the present example), the ALs of the first and second links  900 A and  900 B, respectively, engage each other and limit further rotation of the of the first and second links  900 A and  900 B, respectively, relative to each other. 
     A side view of a portion of the link pair  900 C rotated 45 degrees according to embodiments of the present system is shown in  FIG. 9C . The link pair  900 C is similar to the link pair  900 . However, the ALs are configured to limit rotation of the link pair to 45 degrees. 
     A partially cutaway perspective view of a portion of an endoscope  1000  according to an embodiment of the present system is shown in  FIG. 10A . An elongated section  1002  is coupled to a flexible portion  1008  having a single link  1011 . An imaging unit  1006  is coupled to the flexible portion  1008 . The elongated section  1002 , the flexible portion  1008 , and the imaging unit  1006  are similar to the elongated section  102 , the flexible portion  108 , and the imaging unit  106 , respectively, of  FIG. 1 . However, the flexible portion  1008  has fewer links  1011  than a number of links  111  of the flexible portion  108 . The link  1011  may include first and second links  1011 A and  1011 B, respectively, so as to form a link pair. The first link  1011 A may include one or more openings  1017  at least one of which is configured for passage of a control cable  1020 . An end of the control cable  1020  is coupled to a cable attachment  1023  of the second link  1011 B of the link  1011  so as to transfer a force to the second link  1011 B when the control cable  1020  is tensioned. The imaging unit  1006  may include an image capture device  1050  which may include a still or video camera. In some embodiments, the image capture device  1050  may include a commercial off the shelf (COTS) camera. The flexible portion  108  may rotate about one or more axes such as a hinge axis (HA) of the link  1011  as illustrated by arrow  1091  such that the image capture device  1050  may have a desired RoM. 
     A cutaway side view of a portion of the endoscope  1000  according to embodiments of the present system is shown in  FIG. 10B . The elongated section  1002  may include a cavity  1018  through which cable guides  1095  pass. The one or more portions of the control cables  1020  may pass within the cable guides  1095 . The cable guides may include an insulator to electronically and thermally insulate the control cables  1020 . The image capture device  1050  may include a sensor  1060  to sense an image displayed thereon. The sensor  1060  may include any suitable sensor array such as a CMOS, a CCD, etc. A lens array  1061  may include one or more lenses and/or other optics elements such as apertures, filters, etc., and may be configured to render an image on the sensor  1060 . As shown in  FIG. 10B  (and  FIG. 12 ), the optical lenses and elements are serially connected back to back sharing a central axis and having a same diameter, such as slightly less than 4 mm, so at to fit within the 4 mm outer housing of the image capture device  1050 . 
     A front view of a CMBF pair of the endoscope  1000  taken along lines  10 C- 10 C according to an embodiment of the present system is shown in  FIG. 10C . The CMBF pair  1000 C may have a circular of the like shape and may include two or more CMBF filters such as a first CMBF CMBF-1 and a second CMBF CMBF-2 each of which forms a semicircular shape has an area which is about ½ of the area of the CMBF pair. However, other shapes and/or sizes are also envisioned. Each filter of the CMBF pair (i.e., CMBF-1 and CMBF-2 of the present example) may have complementary passbands. For example, the CMBF-1 has a first passband PB-1 which is complementary to a second passband PB-2 of the CMBF-2, as shown in  FIG. 10E , and further described in US2011/0115882, which is incorporated herein by reference in its entirety. 
       FIG. 10D  is a front view of another CMBF pair  1000 D according to embodiments of the present system. The CMBF pair  1000 D includes a first CMBF CMBF-1 and a second CMBF CMBF-2 which have complementary passbands and are circular in shape and equal in size. However, in yet other embodiments, the shape and/or size of the areas of the CMBFs may be the same as or different from each other 
       FIG. 10E  is a spectral plot of light transmission by an ideal complementary triple-band bandpass CMBF pair in accordance with embodiments of the present system. It is further envisioned that the CMBFs may include any number of passbands, such as 4 passbands or more than 2 passbands. 
       FIG. 11  shows a flow diagram that illustrates a process  1100  performed on an endoscope system in accordance with embodiments of the present system. The process  1100  may be performed using one or more computers communicating over a network and ma obtain information and/or store information using one or more memories which may be local and/or remote from each other. The process  1100  can include one of more of the following acts. Further, one or more of these acts may be combined and/or separated into sub-acts, if desired. The process  1100  may start during act  1100  and may then proceed to act  1103  and will be explained below after the description of  FIGS. 12 and 13A-13C . 
       FIG. 12  is a cutaway side view  1200  of a lens array  1261  in accordance with embodiments of the present system. The lens array  1261  may be similar to the lens array  1061  and may include elements such as one or more of lenses E 1 , E 2 , E 3 , D 4 , and D 5 , as well as a limiting aperture portion EAP (also referred to as a STOP or pupil (s)) and a sensor SENSE. However, it is also envisioned that the sensor SENSE may be independent of the lens array  1261 . The lens array  1261  may include first and second lens groups, LG 1  and LG 2 , respectively, each being a singlet and including one lens. However, in other embodiments, the first and second lens groups LG 1 , LG 2  may include more than one lens. Lenses D 4  and/or D 5  may be lens doublets and include lens pairs D 4 _ 1  and D 4 _ 2 ; and D 51  and D 52 , respectively, including 2 lenses attached to each other. However, in other embodiments, lenses D 4  and/or D 5  may be single lenses or include more than two lenses. As shown in  FIG. 10B  (and  FIG. 12 ), the optical lenses and elements are serially connected back to back so as to share a central axis and have a same diameter, such as slightly less than 4 mm, so at to fit within the 4 mm outer housing of the image capture device  1050 . The outer diameter of the housing may be in the range of 2-4 mm, for example. 
       FIG. 13A  is alight ray trace  1300 A of a lens array  1261  having an 80 degree FOV in accordance with embodiments of the present system. In the light trace  1300 A, seven objective field points are plotted (e.g., FP-1 through FP-7) and the lens system focuses these objective field points (e.g., FP-1 through FP-7) on an image plane (such as an image plane of a CMOS or CCD image capture screen) of a sensor SENSE as shown by image plane points FP-1′ through FP-7′, respectively. 
     The first light group LG 1  may be configured to collimate or substantially collimate objective image rays such that the objective image rays are incident upon the limiting aperture portion EAP which comprises complementary multiband bandpass filters (CMBFs) included in a CMBF pair, such as shown in  FIGS. 10C, 10D . Thus, the first lens group LG 1  may collimate or substantially collimate incoming light rays which are then incident upon the aperture portion EAP and/or CMBF pair as will be discussed below. 
     The CMBFs are described in US2011/0115882, which is incorporated herein by reference in its entirety, generally create two viewpoints in a single objective lens camera, namely, a right viewpoint of images passing to the right CMBF (CMBF-1 in  FIGS. 10C, 10D ) and a left viewpoint of images passing to the left CMBF (CMBF-2 in  FIGS. 10C ,  10 D). The CMBFs include a filter pair having a plurality of passbands which pass light within a certain (visible) color spectrum. As shown in  FIG. 10E , the color spectrum of each passband of a filter of the CMBF pair is complementary to a color spectrum of the other passband of another filter of the CMBF pair. Further, two key characteristics about the CMBFs pairs as used in the present system are that the passbands (e.g., two or more) of filters (e.g., the first CMBF CMBF-1 and the second CMBF CMBF-2 of the CMBF pair) are staggered so only one viewpoint is opened at a time when a light band matched to that passband of the plurality of passbands is illuminated, and the passbands are positioned throughout the visible spectrum, so each viewpoint can render color by taking RGB spectral images. 
     Accordingly, an illumination system that illuminates an object of interest comprises a white illuminator source and an illuminator CMBF pair identical to the CMBF located at the limiting aperture portion EAP (also referred to as right and left pupils or apertures). The white illuminator source may be controlled, such as by a controller or processor  2010  shown in  FIG. 20 , to sequentially illuminate the right and left illuminator CMBFs, CMBF-1 CMBF-2, one at a time. Of course, two white light sources may be provided, namely, a right white light source to provide white light to only the right illuminator CMBF CMBF-1 during a first period of time, and a left white light source to provide white light to only the left illuminator CMBF CMBF-1 during a second period of time. 
     For example, during the first illumination period, the white illuminator source (or the right white illuminator source) is activated to shine only on the right illuminator CMBF CMBF-1 so that white light from the illuminator source passes through the right illuminator CMBF CMBF-1 to illuminate the object of interest, reflect therefrom and enter the lens array  1261  shown in  FIG. 12 , passing through the right CMBF located at the limiting aperture portion EAP for being detected or imaged on the entire focal plane array of the detector or sensor SENSE, which may be a CMOS (or CCD). Since the illumination and aperture EAP CMBF pairs are identical, this light provided from the right illuminator CMBF-1, only passes through the right aperture EAP CMBF-1 and is blocked by the aperture&#39;s EAP left CMBF-2. 
     During a next time period, immediately after the first illumination period, the white illuminator source (or the left white illuminator source) is activated to shine only on the left illuminator CMBF CMBF-1 so that white light from the illuminator source passes through the left illuminator CMBF CMBF-1 to illuminate the object of interest, reflect therefrom and enter the lens array  1261  shown in  FIG. 12 , passing through the left CMBF located at the limiting aperture portion EAP for being detected or imaged on the entire focal plane array (FPA) of the detector or sensor SENSE. This light provided from the left illuminator CMBF-2, only passes through the left aperture EAP CMBF-2 and is blocked by the aperture&#39;s EAP right CMBF-1. 
     As shown in  FIG. 10E , the two identical CMBF pairs, where one CMBF pair is located in front of the white light source(s) and the other CMBF pair is located at the limiting aperture portion EAP, have three right passbands and three left passbands which are complementary to each other, thus only allowing either right light (e.g. dotted lines in  FIG. 10E ) or left light (e.g. dashed lines in  FIG. 10E ) to pass through the system for sequentially imaging a right image on the entire (FPA) of the detector or sensor SENSE, and a left image on the entire (FPA) of the detector or sensor SENSE, one at a time. However, each viewpoint takes a different spectral image from the other viewpoint hence yielding a different color image relative to the other. This color mismatch in the two viewpoints could lead to color rivalry, where the human vision system fails to resolve two different colors. The difference will be closer if the number of passbands in a CMBF pair is increased, and thus more than the three complementary passbands (shown in  FIG. 10E ) are used. Thus, it is preferred to have as many complementary passbands in each filter of the CMBF pair. 
     As described, the illuminator CMBF pair is positioned in front of a white light source. With regard to a location of the aperture CMBF pair in the lens array  1261 , it may be positioned between the first and second lens groups LG 1  and LG 2 , respectively, to form the limiting aperture portion EAP, which may be two semi-circles or two circles touching each other of separated from each other, as shown in  FIGS. 10C, 10D , so as to receive collimated light from the first lens group LG 1 . 
     The CMBF pair may include one or more CMBFs (e.g., a first and second CMBFs) each of which may include one or more layers (e.g., 100 layers etc.) to form an interference filter with sharp edges and may be configured to filter incident light so as to enable sensing of image information suitable for rendering as stereoscopic images (i.e., 3D images) as described in US2011/0115882. The CMBF pair or parts thereof may be an independent optical element or may be integrated with the limiting aperture portion EAP and/or a lens element of the lens array  1261 . For example, the layers of the CMBF pair may be directed formed or coated over portions of a lens to form the limiting aperture portion EAP, where the portions may be semicircular shape, each semicircular covering half the area of a circular limiting aperture portion EAP, or two circles touching each other of separated from each other, as shown in  FIGS. 10C, 10D , for example. In one embodiment, the both the illumination and pupil CMBFs have a substantially flat surface as shown by the limiting aperture portion EAP in  FIG. 12  comprising the pupil CMBF pair. Accordingly, if the CMBF pair (or parts thereof) is integrated with a lens element, the CMBF pair should be situated upon a flat or substantially flat surface such as a surface of the limiting aperture portion EAP of the lens D 4  which is adjacent to the EAP. The CMBF pair may an interference type filter and may function as pupils to provide stereoscopic image information suitable for rendering stereoscopic images. The pupil CMBF pair (as opposed to the illumination CMBF located in front of a white light source) is preferably situated between the first and second lens groups LG 1  and LG 2 , respectively, so that light incident upon the pupil CMBF pair (e.g., from the first lens group LG 1 ) has a normal or minimal angle of incidence of light (AOI) from the object upon the CMBF pair which is less than or equal to a threshold angle of incidence (TAOI) value. For example, in some embodiments of the present system, a TAOI value may have a value such as 23 (e.g., for 80 FOV lenses of the present system). Further, the TAOI may be set in accordance with characteristics of a CMBF pair. However, other values and/or ranges of values for the TAOI are also envisioned. Accordingly, the lenses of the first lens group LG 1  (e.g., E 1 , E 2 , and/or E 3  in the present example) should be configured such that the angle AOI is less than or equal to a desired threshold angle of incidence (TAOI) value. 
     Although CMBFs are shown, if two-dimensional (i.e., 2D) images are desired, the CMBFs may be inactivated, bypassed, and/or removed. 
     The second light group elements LG 2  may then receive incident light and focus the incident light upon an image plane of the image sensor SENSE. 
     The image sensor SENSE may then form corresponding signals and transmit these signals for further processing to render stereoscopic images (3D) or (2D images). 
     With regard to construction of the CMBF pair, this filter may, for example, be deposited (e.g., using a plurality of layers such as 100 layers, etc.) upon the EAP and/or the lens D 4  (e.g., D 4 _ 1 ). In some embodiments, the CMBF pair is integrated with a flat surface of the lens array  1261  such as the lens D 4 . Accordingly, the CMBF pair may include one or more coatings or layers applied directly upon a flat or substantially flat surface (depending on the eventual design) of the lens array  1261  such as the lens D 4 _ 1 . 
     As shown in  FIG. 12 , detector optics comprising the two light group elements LG 1 , LG 2 , includes lenses D 4 , D 5  in second light group elements LG 2 , where at least one of the lenses D 4 , D 5  has one un-partitioned section that covers both the right pupil CMBF-1 and a left pupil CMBF-2 ( FIGS. 10C, 10D ), for directing and/or focusing light passing through the pupil CMBFs, e.g., CMBF-1, CMBF-2 onto the camera or SENSE, such as described in US 2011/0115882, and U.S. patent application Ser. No. 13/628,788, which claims priority to U.S. Provisional Patent Application Ser. No. 61/539,808. As shown in  FIG. 12 , the detection lens system includes optical lenses and elements E 1 , E 2 , E 3 , EAP, D 4 , D 5  that are serially connected back to back sharing a central axis and having substantially the same diameter, such as slightly less than 4 mm, so at to fit within a 4 mm outer housing of an image capture device including the camera  125  and the detection lens system. Similarly, at least one of the lenses E 1 , E 2 , E 3  has one un-partitioned section that covers both the right pupil CMBF-1 and a left pupil CMBF-2. 
     Although exemplary lens arrays  1261  including lenses having exemplary characteristics such as surface, type, radius, curvature, thickness, materials, diameter, comic, focal lengths, lens spacing, etc., are shown and described herein, it is envisioned that one or more of these characteristics may be changed by a user to obtain desired diameters, focal lengths, FOVs, speed, filtering, etc. of a corresponding lens array. For example, the lens arrays  1261  may be scaled with respect to diameter of the lenses to obtain different lens diameters, etc. However when scaling, optical characteristics of the lens array  1261  may vary slightly (e.g., based upon the scaling) and introduce undesirable imaging effects such as blurring. Accordingly, fine tuning of a scaled lens array may be necessary to reduce these undesirable imaging effects. More particularly, when scaling the lens, a ratio of lens curvatures, inter-lens spacing, lens thicknesses, and/or the glass type should be substantially maintained. 
     The EAP includes a limiting aperture which may limit an amount of light passing through the lens second lens group LG 2  of the lens array  1261 , and comprises a lens coated with layers of the interference filter to form the pupil CMBF pair as shown in  FIGS. 10C, 10D . In case the pupil CMBF pair do not cover the entire lens of the EAP and are rather included over two apertures or pupils (e.g., two circles shown in  FIG. 2D ), then the remaining portions of the EAP lens (which is not covered by the CMBF) may be black (e.g., a black coating) to stop passage of light. Thus the system may control an amount of light passing through the lens array  1261 . Accordingly, by limiting (e.g., actively or passively) the amount of light passing through the lens array  1261 , image flooding and/or saturation may be reduced and/or entirely prevented. In addition to the pupil CMBF which may located on the EAP or D 4 _ 1 , the EAP may include an active filter which may operate under the control of a controller of the system or may include a passive filter. With regard to sizing of the EAP, it may be shaped and/or sized such that the entire limiting aperture is used, and thus the pupil CMBF pair (being two semi-circles) covers the entire EAP as shown in  FIG. 10C . Thus, the EAP may have, for example, a diameter which is substantially the same size or slightly larger than that of one or more of the lens elements E 1 , E 2 , and/or E 3 . Accordingly, image rays incident upon all the EAP may pass through a workable area of the EAP and be filtered as opposed to fully blocked as would occur when incident upon non-workable areas of the EAP (outside the two CMBF circles/pupils in the embodiment shown in  FIG. 10D ). Thus, the EAP may reduce or entirely prevent vignetting of the FOV. However, in yet other embodiments, the EAP may be shaped and/or sized to provide vignetting of the FOV where the two CMBF circles shown in  FIG. 10D  touch each other and thus have zero separation therebetween. The two CMBF circles of  FIG. 10D  may be any size, including having a diameter that equals the radius of the limiting aperture portion EAP, and thus the two CMBF circles of  FIG. 10D  touch each other and touch the periphery of the limiting aperture portion EAP. 
     Lens, Filter and Sensor Selection 
     In embodiments of the present system, as shown in  FIG. 12 , E 1  is a plano-concave lens such as a G314-000-000 by Qioptiq Co. Fairport, N.Y.; E 2  is a plano-convex lens, 3 mm diameter by 6 mm FL (focal length) such as an NT32-953, by Edmund Optics, Inc.; E 3  is a lens having opposite surfaces that have substantially parallel curvature, where the first or front surface (facing E 2 ) has a radius of approximately 2 mm, and the second or rear surface (facing tEAP) has a radius of approximately −2 mm; EAP is a dual aperture mask CMBF pair spreading to D 4 ; D 4  is an achromatic doublet lens, 3.0 mm diameter by 6.0 mm FL, such as an NT45-089, by Edmund Optics, Inc; D 5  is doublet lens with a focal length which is less than the focal length of D 4 ; and SENSE is a CMOS detector array, MO-B1003, by Misumi, Inc., Taiwan. For example, D 5  may include a 1.8 mm square CMOS imager. However, other shapes for the CMOS imager are also envisioned. 
     Surface Data Summaries 
     Surface data summaries for the 80, 100, 130, 140, 150, and/or 160 degree FOV lens arrays, similar to the lens array  1261  of  FIG. 12 , in accordance with embodiments of the present system are shown in Table 1 below. More particularly, table 1 illustrates surface data summaries for lens elements E 1 , E 2 , E 3 , D 4 , and D 5  (or lens portions thereof) of the corresponding lens arrays  1261  and table 2 illustrates lens focal lengths for the for 80-160 degree FOV lens arrays in accordance with embodiments of the present system. 
     
       
         
           
               
               
             
               
                 TABLE 1 
               
             
            
               
                   
               
               
                 Lens 
                 LENS FOCAL LENGTH FOV 
               
            
           
           
               
               
               
               
               
               
               
               
            
               
                 Element 
                 80 Deg 
                 100 Deg 
                 120 Deg 
                 130 Deg 
                 140 Deg 
                 150 Deg 
                 160 Deg 
               
               
                   
               
            
           
           
               
               
               
               
               
               
               
               
            
               
                 E1 
                 −1.998 
                 −1.485 
                 −1.389 
                 −1.353 
                 −1.287 
                 −1.242 
                 −1.207 
               
               
                 E2 
                 2.690 
                 2.496 
                 2.61 
                 2.69 
                 2.673 
                 2.756 
                 2.704 
               
               
                 E3 
                 28.536 
                 13.281 
                 14.612 
                 14.387 
                 10.975 
                 9.714 
                 8.829 
               
               
                 D4_1 
                 −2.759 
                 −2.237 
                 −2.35 
                 −2.363 
                 −2.27 
                 −2.268 
                 −2.252 
               
               
                 D4_2 
                 2.028 
                 1.941 
                 1.935 
                 1.909 
                 1.891 
                 1.877 
                 1.875 
               
               
                 D5_1 
                 −4.050 
                 −7.921 
                 −9.578 
                 −8.427 
                 −7.889 
                 −8.739 
                 −7.756 
               
               
                 D5_2 
                 1.656 
                 1.736 
                 1.843 
                 1.728 
                 1.649 
                 1.732 
                 1.615 
               
               
                 D4 
                 6.115 
                 8.881 
                 7.233 
                 6.851 
                 7.511 
                 7.04 
                 7.223 
               
               
                 D5 
                 4.461 
                 3.546 
                 3.539 
                 3.409 
                 3.308 
                 3.264 
                 3.224 
               
               
                   
               
            
           
         
       
     
     Focal Length and Pupil Diameter 
     Focal length and pupil diameter information for corresponding 80, 100, 130, 140, 150, and/or 160 degree FOV lens arrays in accordance with embodiments of the present system is shown in Table 2 below. 
     
       
         
           
               
             
               
                 TABLE 2 
               
             
            
               
                   
               
               
                 EFFECTIVE FOCAL LENGTHS 
               
            
           
           
               
               
               
               
               
               
               
               
            
               
                   
                 80 Deg 
                 100 Deg 
                 120 Deg 
                 130 Deg 
                 140 Deg 
                 150 Deg 
                 160 Deg 
               
               
                   
                   
               
            
           
           
               
               
               
               
               
               
               
               
            
               
                 EFFECTIVE 
                 1.288854 
                 1.106809 
                 0.9874067 
                 0.9406546 
                 0.902855 
                 0.8866931 
                 0.8694922 
               
               
                 FOCAL 
               
               
                 LENGTH 
               
               
                 ENTRANCE 
                 1.12406 
                 0.8123423 
                 0.7204347 
                 0.6843194 
                 0.6563903 
                 0.6426381 
                 0.630205 
               
               
                 PUPIL 
               
               
                 DIAMETER 
               
               
                   
               
            
           
         
       
     
     Referring to the light ray trace  1300 A of the 80 degree FOV lens as shown in  FIG. 13A , the optical configuration of the lenses of the first lens group LG 1 , creates a normal or minimal angle of incidence of light has an AOI of 23 degrees which is less than or equal to the TAOI value for this lens which is 25 degrees. As shown in  FIG. 13A , the angle of incidence of light AOI is the angle between the incident light beam, which is incident on the surface of the CMBF, and a normal or a line perpendicular to the CMBF surface. 
     The lenses of the first lens group LG 1  are configured, such as by proper selection lens parameters of lenses E 1 , E 2 , E 3 , such as radius, thicknesses, focal length, glass type, to provide substantially collimated light for all field points in the CMBF space of the lens design such that the light rays in this space, that are incident on the CMBF, have a low or minimal angle of incidence (AOI) on the CMBF. The low AOI is less than or equal to the threshold angle of incidence (TAOI) value of 23-27 degrees, such as 25 degrees. The lenses of the second lens group LG  2  are configured (by proper selection parameters of the lenses D 4 , D 5 ) to focus light passing through the CMBF pair/EAP to focus the light on the detector or sensor SENSE. Accordingly, the first lens group LG 1  is also designed to work in concert with the rear group of elements LG 2  to provide high definition (HD) imagery, e.g. 1080-p, over an image format of 1.22 mm by 1.21 mm, for example. This high-definition imagery is accomplished at the full relative aperture (f/n) of the individual designs, e.g., 80-degree design at f/1.2 and at f/1.4 for most of the larger field of view designs. For example, the thickness of the lenses may be in the range of 0.08 mm to 1.5 mm, where the CMBF may be 1-2 mm thick. 
       FIG. 13B  is a screenshot of graph of square wave MTF vs. special frequency for the lens array  1261  having an 80 degree FOV. 
       FIG. 13C  is a screenshot of graph of relative illumination vs. Y field for the lens array  1261  having an 80 degree FOV. 
     Light ray traces of 100, 120, 130, 140, 150, and/or 160 degree FOV lenses in accordance with embodiments of the present system are shown in  FIGS. 14A, 15A, 16A, 17A, 18A, and 19A  respectively. 
     Graphs of relative illumination vs. Y field for 100, 120, 130, 140, 150, and/or 160 degree FOV lenses in accordance with embodiments of the present system are shown in  FIGS. 14B, 15B, 16B, and 17B, 18B, and 19B , respectively. 
     Graphs of relative illumination vs. Y field for 100, 120, 130, 140, 150, and/or 160 degree FOV lenses in accordance with embodiments of the present system are shown in  FIGS. 14C, 15C, 16C, 17C, 18C, and 19C  respectively. 
     Referring back to the process  1100  of  FIG. 11 , during act  1103 , a first light group may collimate or substantially collimate objective image rays such that the objective image rays are incident upon EAP and/or a complementary multiband bandpass filters (CMBF) of a CMBF pair. An angle of incidence of these rays should be less than or equal to a threshold angle of incidence of the CMBF pair (e.g., 23-27 degrees, such as 25 degrees). After act  1103 , the process may continue to act  1105 . 
     During act  1105 , the process  1100  may control an intensity of the image rays passing through the EAP. Accordingly, a controller ( 2010  of  FIG. 20 ) of the system may obtain information associated with an intensity of the image rays (e.g., at a point in the image array) and may control a limiting aperture of an objective lens system (e.g., having mechanical and/or electronic shutters such as including liquid crystals that change from transparent to a dark state in response to an applied voltage), to limit an amount of light passing through the EAP so as to prevent image washout, etc. Alternatively or in addition, the controller control may be configured to control intensity of the white light source to provide white light of a desired intensity to the right and left illumination CMBFs (located in front of the white light source) sequentially, for sequentially illuminating the object of interest with a right light (e.g. dotted lines in  FIG. 10E ) and a left light (e.g. dashed lines in  FIG. 10E ) that reflect from the object of interest, and pass through the system for sequentially imaging a right image on the entire (FPA) of the detector or sensor SENSE, and a left image on the entire (FPA) of the detector or sensor SENSE, one at a time, After completing act  1105 , the process may continue to act  1107 . 
     During act  1107 , the process  1100  may filter the collimated light using a pupil CMBF pair, e.g., located or coated on the limiting aperture portion EAP ( FIG. 12 ) in accordance with embodiments of the present system. This act may be performed before, after, and/or concurrently with act  1107 . After completing act  1107 , the process may continue to act  1109 . 
     During act  1109 , the process may focus (e.g., using one or more lenses of a second lens group LG 2 ) and project the limited and/or CMBF pair filtered collimated light upon an image plane such as an image plane of an image capture sensor such as a CCD or CMOS sensor SENSE. After completing act  1109 , the process may continue at act  1111 . 
     During act  1111 , the process may capture the image incident upon the upon the image plane of the image capture sensor and may transmit signals indicative of the captured image(s) to, for example, an image information transmission device of the system for transmission to an image information receiving device. The received image information may then be processed, stored in a memory of the system, and/or rendered on a user interface (UI) such as a display of the system. After completing act  1111 , the process may continue to act  1113 , where it ends. 
     In summary, lens arrays in accordance with embodiments of the present system provide a wide field-of-view (FOV) which may range from about 80° degrees to about 160 degrees (however other values and/or ranges is also envisioned), while providing high-quality images such as full 1080p high-resolution images in two- or three-dimensions. Further, the various lens arrays in accordance with embodiments of the present system may have high speeds as evidence by a maximum speed of f/1.2, for example. 
     Further, in accordance with some embodiments of the present system, lens arrays may have a maximum diameter which may be as small as 3 mm and, when combined with an image capture device, may provide 2- or 3-D image information at a full 1080 lines sampling for high definition (HD) viewing. Further, the lens arrays such as the lens array  1261  is designed not to vignette over the FOV; this relates to the lens array utilizing the entire limiting aperture (e.g., this refers to the diameter of the STOP or limiting aperture portion EAP shown in  FIG. 12 ) accordingly, the f number of the lens remains constant regardless of aperture settings. 
     Further, unlike conventional endoscope systems, the present system captures images immediately on an image capture sensor such as CCD or CMOS which is placed adjacent to the last lens of the lens array. Accordingly, there is no need for relay optics (e.g., flexible fiber-optic bundles) which transmit an image a distance until being captured or viewed (e.g., by a user) and, which may distort an image (especially around the peripheral edges of the image) and/or decrease quality and/or brightness of an image. 
       FIG. 20  shows a portion of a system  2000  in accordance with an embodiment of the present system. For example, a portion of the present system may include a processor  2010  operationally coupled to a memory  2020 , a display  2030 , RF transducers  2060 , a camera/sensors  2090 , and a user input device  2070 . The memory  2020  may be any type of device for storing application data as well as other data related to the described operation. The application data and other data are received by the processor  2010  for configuring (e.g., programming) the processor  2010  to perform operation acts in accordance with the present system. The processor  2010 , so configured, becomes a special purpose machine particularly suited for performing in accordance with embodiments of the present system. 
     The operation acts may include configuring an endoscopic imaging system by, for example, controlling one or more of a position of an imaging portion, the camera/sensors  2090 , and/or the actuators  2060 . The camera/sensors may provide information to the processor  2010  such as image information (in 2D or 3D), temperature information, position information, etc. The actuators  2060  may be controlled to position the camera, turn the camera on/off, and/or to provide illumination to a volume of interest (VOI) so that the camera may capture images of a desired subject within the volume of interest in 2D or 3D. The processor  2010  may receive the image information from the camera, and may render the image information on, for example, a user interface (UI) of the present system such as on the display  2030  which may render images in 2D or 3D. Further, the processor  2010  may store the image information in a memory of the system such as the memory  2020  for later use. 
     The user input  2070  may include a joystick, a keyboard, a mouse, a trackball, or other device, such as a touch-sensitive display, which may be stand alone or be a part of a system, such as part of a personal computer, a personal digital assistant (PDA), a mobile phone, a monitor, a smart or dumb terminal or other device for communicating with the processor  2010  via any operable link. The user input device  2070  may be operable for interacting with the processor  2010  including enabling interaction within a UI as described herein. Clearly the processor  2010 , the memory  2020 , display  2030 , and/or user input device  2070  may all or partly be a portion of a computer system or other device such as a client and/or server. 
     The methods of the present system are particularly suited to be carried out by a computer software program, such program containing modules corresponding to one or more of the individual steps or acts described and/or envisioned by the present system. Such program may of course be embodied in a computer-readable medium, such as an integrated chip, a peripheral device or memory, such as the memory  2020  or other memory coupled to the processor  2010 . 
     The program and/or program portions contained in the memory  2020  configure the processor  2010  to implement the methods, operational acts, and functions disclosed herein. The memories may be distributed, for example between the clients and/or servers, or local, and the processor  2010 , where additional processors may be provided, may also be distributed or may be singular. The memories may be implemented as electrical, magnetic or optical memory, or any combination of these or other types of storage devices. Moreover, the term “memory” should be construed broadly enough to encompass any information able to be read from or written to an address in an addressable space accessible by the processor  2010 . With this definition, information accessible through a network is still within the memory, for instance, because the processor  2010  may retrieve the information from the network for operation in accordance with the present system. 
     The processor  2010  is operable for providing control signals and/or performing operations in response to input signals from the user input device  2070  as well as in response to other devices of a network and executing instructions stored in the memory  2020 . The processor  2010  may be an application-specific or general-use integrated circuit(s). Further, the processor  2010  may be a dedicated processor for performing in accordance with the present system or may be a general-purpose processor wherein only one of many functions operates for performing in accordance with the present system. The processor  2010  may operate utilizing a program portion, multiple program segments, or may be a hardware device utilizing a dedicated or multi-purpose integrated circuit. 
       FIG. 21  shows a portion of code used to control actuators to position the imaging unit such as to provide a rear view, for example, by rotating at least one link, 2 or more links, and the like. As described in connection with  FIG. 7 , a rear view along an axis parallel to the longitudinal axis LA of the elongated section  702  may be achieved using two links  711 . 
     While the present system has been described with a reference to a gesture input system for manipulating a computer environment, it is also envisioned that user interaction with and/or manipulation of the computer environment may also be achieved using other devices such as a mouse, a trackball, a keyboard, a touch-sensitive display, a pointing device (e.g., a pen), a haptic device, etc. 
     Further variations of the present system would readily occur to a person of ordinary skill in the art and are encompassed by the following claims. Through operation of the present system, a virtual environment solicitation is provided to a user to enable simple immersion into a virtual environment and its objects. 
     Finally, the above-discussion is intended to be merely illustrative of the present system and should not be construed as limiting the appended claims to any particular embodiment or group of embodiments. Thus, while the present system has been described with reference to exemplary embodiments, it should also be appreciated that numerous modifications and alternative embodiments may be devised by those having ordinary skill in the art without departing from the broader and intended spirit and scope of the present system as set forth in the claims that follow. In addition, the section headings included herein are intended to facilitate a review but are not intended to limit the scope of the present system. Accordingly, the specification and drawings are to be regarded in an illustrative manner and are not intended to limit the scope of the appended claims. 
     The section headings included herein are intended to facilitate a review but are not intended to limit the scope of the present system. Accordingly, the specification and drawings are to be regarded in an illustrative manner and are not intended to limit the scope of the appended claims. 
     In interpreting the appended claims, it should be understood that: 
     a) the word “comprising” does not exclude the presence of other elements or acts than those listed in a given claim; 
     b) the word “a” or “an” preceding an element does not exclude the presence of a plurality of such elements; 
     c) any reference signs in the claims do not limit their scope; 
     d) several “means” may be represented by the same item or hardware or software implemented structure or function; 
     e) any of the disclosed elements may be comprised of hardware portions (e.g., including discrete and integrated electronic circuitry), software portions (e.g., computer programming), and any combination thereof; 
     f) hardware portions may be comprised of one or both of analog and digital portions; 
     g) any of the disclosed devices or portions thereof may be combined together or separated into further portions unless specifically stated otherwise; 
     h) no specific sequence of acts or steps is intended to be required unless specifically indicated; and 
     i) the term “plurality of” an element includes two or more of the claimed element, and does not imply any particular range of number of elements; that is, a plurality of elements may be as few as two elements, and may include an immeasurable number of elements.