Let $L$ be a set of $n$ lines in $R^3$ that is contained, when represented as points in the four-dimensional Plucker space of lines in $R^3$, in an irreducible variety $T$ of constant degree which is emph{non-degenerate} with respect to $L$ (see below). We show: medskip oindent{bf (1)} If $T$ is two-dimensional, the number of $r$-rich points (points incident to at least $r$ lines of $L$) is $O(n^{4/3+epsilon}/r^2)$, for $r ge 3$ and for any $epsilon>0$, and, if at most $n^{1/3}$ lines of $L$ lie on any common regulus, there are at most $O(n^{4/3+epsilon})$ $2$-rich points. For $r$ larger than some sufficiently large constant, the number of $r$-rich points is also $O(n/r)$. As an application, we deduce (with an $epsilon$-loss in the exponent) the bound obtained by Pach and de Zeeuw (2107) on the number of distinct distances determined by $n$ points on an irreducible algebraic curve of constant degree in the plane that is not a line nor a circle. medskip oindent{bf (2)} If $T$ is two-dimensional, the number of incidences between $L$ and a set of $m$ points in $R^3$ is $O(m+n)$. medskip oindent{bf (3)} If $T$ is three-dimensional and nonlinear, the number of incidences between $L$ and a set of $m$ points in $R^3$ is $Oleft(m^{3/5}n^{3/5} + (m^{11/15}n^{2/5} + m^{1/3}n^{2/3})s^{1/3} + m + n right)$, provided that no plane contains more than $s$ of the points. When $s = O(min{n^{3/5}/m^{2/5}, m^{1/2}})$, the bound becomes $O(m^{3/5}n^{3/5}+m+n)$. As an application, we prove that the number of incidences between $m$ points and $n$ lines in $R^4$ contained in a quadratic hypersurface (which does not contain a hyperplane) is $O(m^{3/5}n^{3/5} + m + n)$. The proofs use, in addition to various tools from algebraic geometry, recent bounds on the number of incidences between points and algebraic curves in the plane.
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