Virtual reality surgical camera system
Inventors
Kline, Eric • KHALIFA, Sammy • WENTWORTH, Marshall • VAN ALBERT, Eric
Assignees
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Publication Number
US-11911116-B2
Publication Date
2024-02-27
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
The invention relates to a virtual-reality minimally invasive surgical camera system that includes a console assembly with actuator and pulley mechanisms, a trocar assembly with an inflatable seal sub-assembly, and a stereoscopic camera located at a trocar distal end. A camera support tube passes through the trocar while routing and protecting cables and electrical communication components, including options that define a main body electrical cavity.
The stereoscopic camera provides live stereo feeds and supports two rotational degrees of freedom for camera orientation about pitch and yaw axes. A pitch actuation assembly and a yaw actuation assembly actuate the stereoscopic camera assembly, where the camera modules rotate about a pitch axis with respect to the main camera body mount and about a yaw axis with respect to the main camera body support. A rotational positional sensing system detects camera rotation about the pitch and yaw axes, with axes defined relative to the camera support tube.
The disclosure also includes stereo image processing and streaming to a virtual-reality display, and head-motion control based on head-mounted display head motion. Additional structural details include routing and protection of electrical communication components using flex shields and guides to manage bend radius and movement during actuation, as well as optical-axis orientation and shifting to increase overlap and field of view.
Claims Coverage
The partial content includes one independent claim that covers the overall camera assembly and its stereoscopic modules, mechanical support, actuation system about pitch and yaw axes, and an electrical component cavity. The main inventive features are centered on the stereoscopic camera arrangement coupled to a trocar-passing camera support tube and pitch/yaw actuation with a defined structural/electrical layout.
Stereoscopic camera assembly coupled to a trocar-passing camera support tube
A camera support tube with a distal end configured to pass at least partially through a trocar, and a stereoscopic camera assembly operably coupled to the distal end of the camera support tube, including a first camera module with a first optical axis and a second camera module with a second optical axis.
Main camera body support with an electrical component cavity
A main camera body support operably coupled to the distal end of the camera support tube and to a main camera body mount, where the main camera body support defines an electrical component cavity.
Pitch and yaw actuation assemblies about defined axes
A pitch actuation assembly housed in the main camera body mount and configured to actuate the first camera module and the second camera module about a pitch axis with respect to the main camera body mount, and a yaw actuation assembly configured to actuate the first camera module and the second camera module about a yaw axis with respect to the main camera body support.
Pitch and yaw rotational positional sensing
First and second rotational positional sensors detect rotation of the camera modules about the pitch axis and yaw axis, including specified relationships between the yaw axis and the pitch axis relative to the camera support tube plane.
Electrical communication component for transmitting captured information during actuation
An electrical communication component enables actuation in rotational degrees of freedom and transmits captured information from the camera modules and/or rotational positional sensors during that actuation.
Optical-axis orientation in insertion configuration
An insertion configuration and a deployed configuration, where in the insertion configuration the first and second camera modules have optical axes perpendicular to the camera support tube.
Mechanical stops limiting pitch actuation range
Mechanical stops that limit rotation of the camera modules to within an allowable pitch actuation range.
Across the independent claim and refinements indicated in the partial content, the coverage centers on a trocar-passing camera support tube carrying a stereoscopic two-module camera with a main body support defining an electrical component cavity, and pitch/yaw actuation about defined axes, supported by rotational positional sensing and electrical communication for captured information, with configuration- and limit-related refinements.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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