Virtual reality surgical camera system
Inventors
Kline, Eric • KHALIFA, Sammy • WENTWORTH, Marshall • VAN ALBERT, Eric
Assignees
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Publication Number
US-11583342-B2
Publication Date
2023-02-21
Expiration Date
Abstract
A system includes a console assembly, a trocar assembly operably coupled to the console assembly, a camera assembly operably coupled to the console assembly having a stereoscopic camera assembly, and at least one rotational positional sensor configured to detect rotation of the stereoscopic camera assembly about at least one of a pitch axis or a yaw axis. The console assembly includes a first actuator and a first actuator pulley operable coupled to the first actuator. The trocar assembly includes a trocar having an inner and outer diameter, and a seal sub-assembly comprising at least one seal and the seal sub-assembly operably coupled to the trocar. The camera assembly includes a camera support tube having a distal and a proximal end, the stereoscopic camera operably coupled to the distal end of the support tube and a first and second camera module having a first and second optical axis.
Core Innovation
A virtual-reality-enabled minimally invasive surgical camera system is described that includes a console assembly, a trocar assembly, and a camera assembly. The console assembly drives a stereoscopic camera assembly through a trocar while the stereoscopic camera assembly is positioned in an internal body cavity and operably coupled to a camera support tube.
The stereoscopic camera assembly includes a main camera body and a first camera module and a second camera module. The first camera module has a first optical axis and the second camera module has a second optical axis, such that stereo vision is obtained.
Motion of the first camera module and the second camera module is provided with respect to the distal end of the camera support tube along at least two rotational degrees of freedom using pitch actuation assembly and yaw actuation assembly. At least one rotational positional sensor is configured to detect rotation of the stereoscopic camera assembly about at least one of a pitch axis or a yaw axis, with the yaw axis being normal to a plane in which the camera support tube lies and the pitch axis perpendicular to the yaw axis.
The system further uses externally-driven actuation through a console assembly, including a cable and actuator pulley arrangement that operably couples to at least one of the pitch actuation assembly or the yaw actuation assembly. Information captured by the first camera module, the second camera module, and/or the rotational positional sensor is transmitted using an electrical communication component configured to permit actuation in the at least two rotational degrees of freedom while being bendable to a minimum allowable bend radius without being damaged or rendered unusable.
Claims Coverage
The partial content provides three independent claims: clm-00001, clm-00015, and clm-00036. Across these independent claims, the inventive content centers on a stereoscopic camera assembly passing through a trocar on a camera support tube, externally-driven pitch/yaw actuation of first and second camera modules, rotational positional sensing about pitch and/or yaw axes, and transmission of captured information through an electrical communication component while permitting bending.
Console-driven stereoscopic camera through trocar
A system comprising a console assembly with a first actuator and a first actuator pulley and a cable, a trocar assembly with a seal sub-assembly, and a camera assembly with a camera support tube whose distal end passes through the trocar, where a stereoscopic camera assembly passes through the trocar and is positioned in an internal body cavity while coupled to the distal end of the camera support tube.
Pitch and yaw actuation of first and second camera modules
A stereoscopic camera assembly having a main camera body, a first camera module with a first optical axis, a second camera module with a second optical axis, a pitch actuation assembly, and a yaw actuation assembly, where the pitch and yaw actuation assemblies provide motion of the first camera module and the second camera module with respect to the distal end of the camera support tube along at least two rotational degrees of freedom, and a cable operably couples the first actuator pulley to one of the pitch actuation assembly or the yaw actuation assembly.
Rotational positional sensor for pitch/yaw detection
At least one rotational positional sensor configured to detect rotation of the stereoscopic camera assembly about at least one of a pitch axis or a yaw axis, wherein the yaw axis is normal to a plane in which the camera support tube lies, and the pitch axis is perpendicular to the yaw axis.
Externally-driven stereoscopic camera with electrical communication component
A camera assembly where the stereoscopic camera assembly is operably coupled to the distal end of the camera support tube and configured to pass through the trocar into an internal body cavity, the stereoscopic camera assembly includes a main camera body with an electrical component cavity, first and second camera modules with first and second optical axes, an externally-driven actuation system comprising a pitch actuation assembly and a yaw actuation assembly providing motion along at least two rotational degrees of freedom, an electrical communication component that transmits information captured by at least one of the first camera module, the second camera module, or the at least one rotational positional sensor, and the electrical communication component is physically configured to permit the stereoscopic camera assembly to be actuated in the at least two rotational degrees of freedom.
Bendable electrical communication component permitting actuation
An electrical communication component configured to permit the stereoscopic camera assembly to be actuated in the at least two rotational degrees of freedom while the electrical communication component can be bent to a minimum allowable bend radius without being damaged or rendered unusable.
Insertion configuration with perpendicular optical axes
In the insertion configuration of the stereoscopic camera assembly, the first optical axis of the first camera module and the second optical axis of the second camera module are orientated perpendicular to the camera support tube.
Across the independent claims, the coverage combines a stereoscopic camera assembly on a camera support tube passing through a trocar, externally-driven pitch and yaw actuation of first and second camera modules with at least two rotational degrees of freedom, rotational positional sensing about pitch and/or yaw axes with defined axis relationships, and electrical communication that transmits captured information and physically permits actuation while being bendable to a minimum allowable bend radius without being damaged or rendered unusable. One independent claim additionally specifies that, in the insertion configuration, both optical axes are orientated perpendicular to the camera support tube.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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