Camera apparatus for coordinated operation with surgical tools
Inventors
Kellar, Ryan • Kitchen, James • Melton, Andrew • Hsu, Tzung-Yu • Frank, Rachel M. • Lavender, Chad • Siegel, Benjamin • Jamison-Ekeling, Erik • Engstrom, Connor • Speier, Craig • Fergan, Robert
Assignees
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Publication Number
US-12419719-B2
Publication Date
2025-09-23
Expiration Date
Abstract
A surgical imaging system includes at least one camera apparatus having a camera body including an image sensor configured to capture image data in a field of view. A scope extends along a longitudinal axis from the camera body. A camera orientation sensor is in connection with the camera apparatus. The camera orientation sensor detects a camera orientation of the camera apparatus. A scope orientation sensor detects a scope orientation of the scope relative to the camera body. A controller monitors the camera orientation and the scope orientation. In response to a change in the scope orientation relative to the camera orientation, the controller updates a rotation of the field of view of the image data.
Core Innovation
The disclosed surgical imaging system includes at least one camera apparatus with a camera body having an image sensor configured to capture image data in a field of view, and a scope extending along a longitudinal axis in connection with the camera body. A camera orientation sensor detects a camera orientation of the camera apparatus, and a scope orientation sensor detects a scope orientation of the scope relative to the camera body. A controller monitors the camera orientation and the scope orientation and updates a rotation of the field of view of the image data in response to a change in the scope orientation relative to the camera orientation.
The system further provides gravity/horizon control by updating and rotating the field-of-view image data to keep features consistently oriented, including an optional user-selected horizon offset. In addition, the disclosure includes coordinated tracking across devices using local coordinate systems, a surgical coordinate system, and an anatomical graphic or simulated depiction, where orientation-driven rotation is maintained for generated video feeds while preserving rotational relationships. The controller receives and processes orientation data for each camera, and uses this orientation data to adjust display rotations and maintain relationships between display rotations across multiple video feeds.
The disclosure also includes mechanical coordination of the camera apparatus with a surgical tool, using an angled support surface defining an intersection angle and spacing between a tool axis and a camera axis at a working distance. A cannula and collar with deformable material are described as retaining the relative alignment, supporting consistent spatial relationships for orientation-aware imaging. The controller hardware and communications are described for running image, graphics, and orientation correction, including adjustment of multiple feeds and user-adjustable offsets.
Claims Coverage
The independent claims cover a surgical imaging system and related display method with orientation sensing and controller-driven rotation or display adjustment, including rotational maintenance across multiple surgical cameras and selective video feed control. Across the independent claims, the core inventive features include (i) monitoring camera and scope orientation and updating field-of-view rotation, (ii) adjusting display rotations for multiple cameras while maintaining a relationship between rotations, and (iii) generating display data at display angles and selectively controlling which video feed is displayed based on camera orientations. In total, three independent claims are identified: clm-00001, clm-00014, and clm-00020.
Monitor camera orientation and scope orientation to update field-of-view rotation
A controller monitors the camera orientation and the scope orientation and updates a rotation of the field of view of the image data in response to a change in the scope orientation relative to the camera orientation.
Maintain relationship between display rotations for first and second cameras
Adjust at least one of a first display rotation of the first image data and a second display rotation of the second image data, wherein a relationship between the first display rotation and the second display rotation is maintained relative to the other based on one of the first camera orientation data and the second camera orientation data.
Generate first and second display data and selectively control displayed video feed based on orientations
A controller receives the first image data and the second image data, receives the first camera orientation data and the second camera orientation data, generates first display data at a first display angle from the first image data and second display data at a second display angle from the second image data and adjusts the second display data to maintain a relationship between the first display angle and the second display angle, and selectively controls a display of a first video feed of the first image data or a second video feed of the second image data in response to the first camera orientation data and the second camera orientation data.
Overall, the independent claims center on controller monitoring of orientation data to rotate the field of view and adjust display rotations, with explicit maintenance of rotational relationships between first and second cameras’ display rotations. A further independent claim adds generation of display data at respective display angles and selective display of one of the video feeds based on the cameras’ orientation data.
Stated Advantages
Documented Applications
No documented applications found
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