HK40110764A - Virtual reality surgical camera system - Google Patents

Description

Virtual Reality Surgical Camera System

This application is a divisional application of the application filed on September 13, 2018, with application number 201880073752.7 and invention title "Virtual Reality Surgical Camera System".

Cross-references to related applications

This application claims the benefit of U.S. Provisional Patent Application No. 62/558,583 entitled “Virtual Reality Surgical Camera System”, filed September 14, 2017, under 35 § 119(e) of the United States Code, which is incorporated herein by reference in its entirety.

Technical Field

This application generally relates to minimally invasive surgery, minimally invasive surgical cameras, and virtual reality minimally invasive surgical systems.

Related technical descriptions

Since its inception in the 1900s, the field of minimally invasive surgery has undergone tremendous development and growth, leading to better outcomes for patients. One of the major advancements in minimally invasive surgery is the realization of surgical robotic devices. The implementation and application of surgical robotic devices in minimally invasive surgery has increased the number and types of surgeries that can be performed using these devices. This growth has brought numerous improvements to patients, including shorter recovery times, better outcomes, and faster operation times. The increased use of surgical robotic devices has also resulted in a significant increase in the number of devices capable of performing a wide range of functions and operations and controlled and operated via various technologies.

During minimally invasive surgery, endoscopic cameras are typically used to provide surgeons with images of the surgical site and operating room, allowing them to manipulate robotic tools and also enabling others to observe the procedure. Routinely, during minimally invasive surgery, surgeons focus on manipulating tissues and contracting organs. To accomplish these tasks, the surgeon manually manipulates the endoscopic camera to the desired position and orientation to obtain a sufficient field of view to perform the procedure. Often, endoscopic cameras offer a limited and narrow field of view, which necessitates the surgeon manually moving the camera back and forth or to different positions to view tools or tissues outside their field of vision. This manual movement of the endoscopic camera requires the surgeon to shift their attention from performing the surgical maneuver to focusing on acquiring sufficient visibility, resulting in longer surgical procedures and longer patient recovery times.

Typically, throughout minimally invasive surgery, surgeons require multiple surgical views and angles to perform the procedure. The endoscope can usually be manually moved slightly to the left, right, back, and/or forward to obtain larger or different views during the procedure, and then returned to its initial position and orientation to allow the surgeon to view tissues and/or organs at the desired magnification. Physically manipulating the endoscopic camera requires the surgeon to shift his or her attention from performing the procedure to the view of the surgical procedure, which can lead to unexpected events for the patient, as well as longer recovery and procedure times.

To reduce the need for manually moving endoscopic cameras to obtain multiple views of the surgical site and to gain a wider field of vision, some surgeons utilize multiple endoscopic cameras, each inserted through different incisions within the patient's cavity. While this provides surgeons with multiple different views, it comes at a cost to the patient. Multiple incisions must be made to insert multiple cameras, increasing the risk of hernia formation, infection, pain, and general morbidity. Furthermore, using multiple endoscopic cameras reduces the surgeon's workspace and thus makes surgical procedures more difficult.

While the use and manual manipulation of endoscopic cameras are feasible options in traditional minimally invasive surgery and existing robotic surgery, they are neither practical nor intuitive during virtual reality surgery. In virtual reality surgery, the surgeon has the sensation of being inside the surgical site within the patient's body. Combined with the 3D visualization provided by virtual reality glasses, the surgeon observes the surgical procedure and interacts with the robotic arm as if it were his or her own arm and hand. Through virtual reality surgery, the surgeon is fully engaged in a natural and immersive virtual reality user interface. However, while the surgeon is immersed in the virtual reality user interface, manually manipulating and moving the endoscopic camera to the required position would be cumbersome, requiring the surgeon to detach and remove themselves from the natural and immersive virtual reality user interface. Alternatively, if the surgeon were to manually manipulate the endoscopic camera, this manipulation could cause disorientation and potentially increase surgical time, disrupting the surgeon's workflow. To allow the surgeon to remain immersed in the natural and immersive virtual reality user interface, virtual reality surgery requires different technologies for controlling the camera and acquiring multiple perspectives of the surgical field.

For humanoid robot systems, success stems from maintaining a natural and intuitive human-machine interface (HMI). Therefore, in virtual reality surgery, it is advantageous for surgeons to be able to interact with and control cameras while preserving the humanoid robot's functionality.

Summary of the Invention

In one embodiment of the invention, a system is included, the system comprising a console assembly including a first actuator and a first actuator pulley operably coupled to the first actuator; a cannula assembly operably coupled to the console assembly, the cannula assembly including a cannula having an inner diameter and an outer diameter, and a sealing sub-assembly including at least one seal operably coupled to the cannula; and a camera assembly operably coupled to the console assembly, the camera assembly including a camera support tube having a distal end and a proximal end. A stereo camera assembly operatively coupled to the distal end of the camera support tube includes a main camera body defining a cavity, a pitch actuator assembly, a yaw actuator assembly, the pitch actuator assembly and the yaw actuator assembly providing at least two rotational degrees of freedom, a first camera module having a first optical axis and a second camera module having a second optical axis; and includes at least one rotational attitude sensor configured to detect rotation of the stereo camera assembly about at least one of the pitch axis or the yaw axis, wherein the yaw axis is perpendicular to the plane of the camera support tube and the pitch axis is perpendicular to the yaw axis. The sealing sub-assembly of the system may also include a second seal. The cannula assembly of the system may also include a sealing plug. The stereo camera assembly of the system may also include a peripheral camera. In the system, the first optical axis of the first camera module and the second optical axis of the second camera module have an interaxial distance configured to provide stereo vision. The console assembly of the system may also include multiple actuators. The system's cannula assembly may also include a cannula mating fixture defining a through hole with a through shaft, wherein the through shaft is configured to allow access via the camera console assembly and via the cannula assembly.

The system may also include a pitch cable operatively coupling the pitch actuator assembly to the first actuator pulley, such that actuation of the first actuator rotates the stereo camera assembly about the pitch axis. In a system including the pitch cable, the console assembly may also include a second actuator and a second actuator pulley operatively coupled to the second actuator. In a system including a console assembly with a second actuator, a yaw cable operatively coupling the second actuator to the second actuator pulley may also be included, such that actuation of the second actuator rotates the stereo camera assembly about the yaw axis. In a system including the yaw cable, the console assembly may also include a first redirecting pulley disposed along the path of the pitch cable between the first actuator pulley and the pitch actuator assembly, the first redirecting pulley being configured to redirect the path of the pitch cable from the first actuator pulley to a first cable cavity defined by the camera support tube. In the system including the yaw cable, the console assembly may also include a redirection pulley disposed along the path of the yaw cable between the second actuator pulley and the yaw actuation assembly, the redirection pulley being configured to redirect the path of the yaw cable from the first actuator pulley to a second cable cavity defined by the camera support tube.

In a system including the console assembly having the first redirecting pulley, a second redirecting pulley may also be included, mounted along the path of the yaw cable between the second actuator pulley and the yaw actuation assembly, the second redirecting pulley being configured to redirect the path of the yaw cable from the second actuator pulley to a second cable cavity defined by a camera support tube.

In other embodiments, the stereo camera assembly of the system has an insertion configuration and an unfolding configuration, wherein, in the insertion configuration, the first optical axis of the first camera module and the second optical axis of the second camera module are oriented perpendicular to the camera support tube. In a system having a stereo camera assembly with both an insertion and unfolding configuration, the first camera module includes a first camera module body with a first outer edge, the second camera module includes a second camera module body with a second outer edge, and wherein the maximum distance from the first outer edge of the first camera module body to the second outer edge of the second camera module body is greater than the maximum width of the cross-section of the stereo camera assembly perpendicular to the axis of the camera support tube.

In another aspect, the present invention includes a camera assembly comprising a camera support tube having a distal end and a proximal end, a stereo camera assembly operably coupled to the distal end of the camera support tube, the stereo camera assembly including a main camera body operably coupled to the distal end of the camera support tube, wherein the main camera body defines an electronics cavity, a first camera module having a first optical axis, a second camera module having a second optical axis, and an actuation system including a pitch actuation assembly and a yaw actuation assembly, the actuation system providing at least two rotational degrees of freedom; and at least one rotational attitude sensor configured to detect rotation of the stereo camera assembly about at least one of the pitch axis or the yaw axis, wherein the yaw axis is perpendicular to the plane containing the camera support tube, and the pitch axis is perpendicular to the yaw axis. In one embodiment, the actuation system of the camera assembly is cable-driven. In one embodiment, the actuation system of the camera assembly is motor-driven. In other embodiments, the yaw actuation assembly of the camera assembly is configured to actuate the stereo camera assembly about the yaw axis. In other embodiments, the pitch actuation assembly of the camera assembly is configured to actuate the stereo camera assembly about the pitch axis. In other embodiments, the pitch actuation assembly of the camera assembly is configured to actuate the stereo camera assembly about the pitch axis, independent of the yaw actuation assembly. The stereo camera of the camera assembly may also include an illumination source operatively coupled to a power source.

In another embodiment, the stereo camera assembly may also include a first peripheral camera. In a camera assembly including a first peripheral camera, the stereo camera assembly may further include a second peripheral camera.

In another embodiment, the stereo camera assembly of the camera assembly also includes an electrical connection component, wherein the electrical connection component is configured to transmit the information captured by at least one of the first camera module, the second camera module, or the at least one rotational attitude sensor. In a camera assembly including an electrical connection component, the electrical connection component may also include a flexible printed circuit board (FPCB). In another embodiment, the camera assembly includes an electrical connection component, which may also include a printed circuit board (PCB).

In another embodiment of the camera assembly including an electrical connection component, the electrical connection component is physically configured to allow the stereo camera assembly to be actuated with at least two rotational degrees of freedom, and wherein the electrical connection component is configured to transmit the information captured by at least one of the first camera module, the second camera module, or the at least one rotational attitude sensor during actuation of the stereo camera assembly with the at least two rotational degrees of freedom. In another embodiment of the camera assembly including an electrical connection component physically configured to allow the stereo camera assembly to be actuated with at least two degrees of freedom, the electrical connection component can be bent to a minimum permissible bending radius without being damaged or rendered unusable. The camera assembly including the electrical connection component physically configured to allow the stereo camera assembly to be actuated with at least two degrees of freedom may also include an electrical connection retainer that prevents damage to the electrical connection component during use of the actuation system.

In another embodiment of the camera assembly, which includes the electrical connection component physically configured to allow the stereo camera assembly to be actuated in at least two degrees of freedom, a flexible shield may also be included to provide a protective enclosure for the electrical connection component, preventing the electrical connection component from contacting other objects and/or components when the camera assembly is used. In a camera assembly including a flexible shield, the flexible shield may also include sidewalls.

In another embodiment of the camera assembly, which includes an electrical connection component physically configured to allow the stereo camera assembly to be actuated in at least two degrees of freedom, the electrical connection component is located within an electrical connection cavity defined by the main camera body. The camera assembly with the electrical connection component located within the electrical connection cavity may also include a flexural guide and a constant-force spring, wherein the constant-force spring applies a radial force to the electrical connection component. In another embodiment, the camera assembly has an electrical connection component located within an electrical connection cavity, and the main camera body may also define a machined surface aperture.

In other embodiments of the camera assembly, the first optical axis of the first camera module and the second optical axis of the second camera module have an interaxial distance configured to provide stereoscopic vision. In another embodiment, the stereoscopic camera assembly has an insertion configuration and an unfolded configuration, wherein in the insertion configuration, the first optical axis of the first camera module and the second optical axis of the second camera module are oriented perpendicular to the camera support tube. In the camera assembly having both the insertion and unfolded configurations, the first camera module includes a first camera body with a first outer edge, the second camera module includes a second camera module body with a second outer edge, and wherein the maximum distance from the first outer edge of the first camera module body to the second outer edge of the second camera module body is greater than the maximum width of the cross-section of the stereoscopic camera assembly perpendicular to the axis of the camera support tube.

This application also relates to the following aspects.

1) A system comprising:

a. A console assembly, the console assembly comprising:

i. The first actuator, and

ii. A first actuator pulley operably coupled to the first actuator;

b. A cannula assembly operatively coupled to the console assembly, the cannula assembly comprising:

i. A cannula with an inner diameter and an outer diameter, and

ii. A sealing subassembly operably coupled to the cannula needle, the sealing subassembly including at least one seal;

c. A camera assembly operatively coupled to the console assembly, the camera assembly comprising:

i. A camera support tube with both distal and proximal ends,

ii. A stereo camera assembly operably coupled to the distal end of the camera support tube, the stereo camera assembly comprising:

1. The main camera body with a defined cavity.

2. Pitch actuation assembly,

3. A yaw actuation assembly, wherein the pitch actuation assembly and the yaw actuation assembly provide at least two rotational degrees of freedom.

4. A first camera module having a first optical axis, and

5. A second camera module with a second optical axis; and

d. At least one rotational attitude sensor, the at least one rotational attitude sensor being configured to detect rotation of the stereo camera assembly about at least one of a pitch axis or a yaw axis, wherein the yaw axis is perpendicular to the plane containing the camera support tube, and the pitch axis is perpendicular to the yaw axis.

2) The system according to 1) further includes a pitch cable operatively coupling the pitch actuator assembly to the first actuator pulley, such that actuation of the first actuator causes the stereo camera assembly to rotate about the pitch axis.

3) According to the system described in 2), the console assembly further includes:

a. Second actuator; and

b. A second actuator pulley operably coupled to the second actuator.

4) The system according to 3) further includes a yaw cable operably coupled to the second actuator to the second actuator pulley, so that actuation of the second actuator causes the stereo camera assembly to rotate about the yaw axis.

5) According to the system described in 4), the console assembly further includes a first redirecting pulley disposed along the path of the pitch cable between the first actuator pulley and the pitch actuation assembly, the first redirecting pulley being configured to redirect the path of the pitch cable from the first actuator pulley to a first cable cavity defined by the camera support tube.

6) According to the system of 5), the console assembly further includes a second redirecting pulley disposed along the path of the yaw cable between the second actuator pulley and the yaw actuator assembly, the second redirecting pulley being configured to redirect the path of the yaw cable from the second actuator pulley to a second cable cavity defined by the camera support tube.

7) According to the system described in 4), the console assembly further includes a redirection pulley disposed along the path of the yaw cable between the second actuator pulley and the yaw actuator assembly, the redirection pulley being configured to redirect the path of the yaw cable from the second actuator pulley to a second cable cavity defined by the camera support tube.

8) The system according to 1), wherein the sealing subassembly further includes a second seal.

9) The system according to 1), wherein the cannula assembly further includes a sealing plug.

10) According to the system described in 1), the stereo camera assembly further includes a peripheral camera.

11). The system according to 1), wherein the first optical axis of the first camera module and the second optical axis of the second camera module have an interaxial distance configured to provide stereoscopic vision.

12) The system according to 1), wherein the stereo camera assembly has an insertion configuration and an unfolding configuration, and wherein in the insertion configuration, the first optical axis of the first camera module and the second optical axis of the second camera module are oriented perpendicular to the camera support tube.

13) The system according to 12), wherein the first camera module includes a first camera module body having a first outer edge,

The second camera module includes a main body of the second camera module having a second outer edge.

Furthermore, the maximum distance from the first outer edge of the first camera module body to the second outer edge of the second camera module body is greater than the maximum width of the cross-section of the stereo camera assembly perpendicular to the axis of the camera support tube.

14). The system according to 1), wherein the console assembly further includes a plurality of actuators.

15) According to the system of 1), the cannula assembly further includes a cannula mating fixture defining a through hole having a through axis parallel to the longitudinal axis of the camera support tube, and wherein the through hole is configured to allow access through the camera control assembly and through the cannula assembly.

16) A camera assembly includes:

a. A camera support tube with both remote and near ends;

b. A stereo camera assembly operably coupled to the distal end of the camera support tube, the stereo camera assembly comprising:

i. A main camera body operatively coupled to the distal end of the camera support tube, wherein the main camera body defines an electronics assembly cavity.

ii. A first camera module having a first optical axis,

iii. A second camera module with a second optical axis, and

iv. An actuation system comprising a pitch actuation assembly and a yaw actuation assembly, said actuation system providing at least two rotational degrees of freedom; and

c. At least one rotational attitude sensor, the at least one rotational attitude sensor being configured to detect rotation of the stereo camera assembly about at least one of a pitch axis or a yaw axis, wherein the yaw axis is perpendicular to the plane containing the camera support tube, and the pitch axis is perpendicular to the yaw axis.

17) The camera assembly according to 16), wherein the actuation system is cable driven.

18) The camera assembly according to 16), wherein the actuation system is motor driven.

19) The camera assembly according to 16), wherein the yaw actuation assembly is configured to actuate the stereo camera assembly about the yaw axis.

20) The camera assembly according to 16), wherein the pitch actuation assembly is configured to actuate the stereo camera assembly about the pitch axis.

21) The camera assembly according to 16), wherein the pitch actuation assembly is configured to actuate the stereo camera assembly about the pitch axis independently of the yaw actuation assembly.

22). The camera assembly according to 16), wherein the stereo camera assembly further includes a first peripheral camera.

23) The camera assembly according to 22), wherein the stereo camera assembly further includes a second peripheral camera.

24) The camera assembly according to 16), wherein the stereo camera assembly further includes an illumination source operatively coupled to a power source.

25) The camera assembly according to 16), wherein the stereo camera assembly further includes an electrical communication component, wherein the electrical communication component is configured to transmit information captured by at least one of the first camera module, the second camera module, or the at least one rotational attitude sensor.

26) The camera assembly according to 25), wherein the electrical communication component includes a flexible printed circuit board (FPCB).

27) The camera assembly according to 25), wherein the electrical connection component includes a printed circuit board (PCB).

28) The camera assembly according to 25), wherein the electrical communication component is physically configured to allow the stereo camera assembly to be actuated with the at least two rotational degrees of freedom, and wherein the electrical communication component is configured to transmit the information captured by at least one of the first camera module, the second camera module, or the at least one rotational attitude sensor during actuation of the stereo camera assembly with the at least two rotational degrees of freedom.

29) The camera assembly according to 28), wherein the electrical connection component can be bent to a minimum permissible bending radius without being damaged or rendered unusable.

30) The camera assembly according to 28) further includes a flexible shield that provides a protective housing for the electrical communication component.

31) The camera assembly according to 30), wherein the flexible shielding includes sidewalls.

32) The camera assembly according to 28), wherein the electrical communication component is located in an electrical communication component cavity defined by the main camera body.

33). The camera assembly according to 32) further includes a bending guide and a constant force spring.

34) The camera assembly according to 32), wherein the main camera body further defines a machined surface aperture.

35) The camera assembly according to 28) further includes an electrical connection component retainer.

36) The camera assembly according to 16), wherein the first optical axis of the first camera module and the second optical axis of the second camera module have an interaxial distance that can be configured to provide stereoscopic vision.

37) The camera assembly according to 16), wherein the stereo camera assembly has an insertion configuration and an unfolding configuration, and wherein in the insertion configuration, the first optical axis of the first camera module and the second optical axis of the second camera module are oriented perpendicular to the camera support tube.

38) The camera assembly according to 37), wherein the first camera module includes a first camera module body having a first outer edge.

The second camera module includes a main body of the second camera module having a second outer edge.

Furthermore, the maximum distance from the first outer edge of the first camera module body to the second outer edge of the second camera module body is greater than the maximum width of the cross-section of the stereo camera assembly perpendicular to the axis of the camera support tube.

Attached Figure Description

It should be noted that the numbered items remain consistent across all figures. Items with the same number are identical items or identical copies of the same item. Items with different numbers are parts of different designs or identical parts serving different purposes.

Figure 1A is a front isometric view of one embodiment of the robot camera system.

Figure 1B is a rear isometric view of one embodiment of the robot camera system.

Figure 2A is a rear isometric view of a camera console assembly according to one embodiment.

Figure 2B is a front isometric view of a camera console assembly according to one embodiment.

Figure 2C is a side isometric view of a camera console assembly according to one embodiment.

Figure 3 is a side isometric exploded view of a camera console assembly according to one embodiment.

Figure 4A is an isometric view of a camera console base according to one embodiment.

Figure 4B is a front isometric view of a camera console base according to one embodiment.

Figure 5A is a front isometric view of a cannula fitting clamp according to one embodiment.

Figure 5B is an oblique isometric view of a cannula fitting clamp according to one embodiment.

Figure 5C is a front view of a cannula fitting clamp according to one embodiment.

Figure 5D is a rear view of a cannula fitting clamp according to one embodiment.

Figure 6 is an isometric exploded view of some components that can be coupled to a camera console base according to one embodiment.

Figure 7A is an isometric view of a pulley housing block according to one embodiment.

Figure 7B is an isometric view of a pulley housing block according to one embodiment.

Figure 7C is a lower isometric view of a pulley housing block according to one embodiment.

Figure 8A is an exploded isometric view of a pulley housing block and an assembly that can be coupled to the pulley housing block according to one embodiment.

Figure 8B is an isometric view of a pulley housing block with a redirecting pulley and a redirecting pulley cover according to one embodiment.

Figure 9A is an isometric view of a console and support according to one embodiment.

Figure 9B is an isometric view of a console and support according to one embodiment.

Figure 9C is a lower profile view of a console and support according to one embodiment.

Figure 10A is an isometric view of a flexible shield according to one embodiment.

Figure 10B is an additional isometric view of a flexible shield according to one embodiment.

Figure 10C is a top view of a flexible shield according to one embodiment.

Figure 11A is a front isometric view of a camera rigid plate coupled to a flexible shield according to one embodiment.

Figure 11B is an isometric view of a camera rigid plate coupled to a flexible shield according to one embodiment.

Figure 12 is an isometric view of the upper console body according to one embodiment.

Figure 13 is an exploded side view of a cannula assembly according to one embodiment.

Figure 14A is an isometric view of a cannula according to one embodiment.

Figure 14B is an exploded isometric view of a cannula according to one embodiment.

Figure 15A is an isometric view of a sealing subassembly according to one embodiment.

Figure 15B is an exploded isometric view of a sealing subassembly according to one embodiment.

Figure 16A is a cross-sectional side view of a sealing subassembly according to one embodiment.

Figure 16B is an isometric cross-sectional view of a sealing subassembly according to one embodiment.

Figure 17A is a front isometric view of an expandable seal according to one embodiment.

Figure 17B is a rear isometric view of an expandable seal according to one embodiment.

Figure 18A is a front view of a wing ring according to one embodiment.

Figure 18B is an isometric view of a wing ring according to one embodiment.

Figure 19A is a front isometric view of a robot camera assembly coupled to a camera control console assembly according to one embodiment.

Figure 19B is a front exploded isometric view of a robot camera assembly coupled to a camera control console assembly according to one embodiment.

Figure 20A is a front isometric view of a camera support tube according to one embodiment.

Figure 20B is a rear isometric view of a camera support tube according to one embodiment.

Figure 21A is an exploded isometric view of a stereo camera according to one embodiment.

Figure 21B is a front isometric view of a stereo camera according to one embodiment.

Figure 22A is a side view of a pitch actuation assembly according to one embodiment.

Figure 22B is an exploded side view of a pitch actuation assembly according to one embodiment.

Figure 22C is an exploded isometric view of a pitch actuation assembly according to one embodiment.

Figure 23A is a right-side isometric view of a pitch pulley according to one embodiment.

Figure 23B is a left-side isometric view of a pitch pulley according to one embodiment.

Figure 23C is a front isometric view of a pitch pulley according to one embodiment.

Figure 24A is an isometric view of the main camera body according to one embodiment.

Figure 24B is a lower isometric view of the main camera body according to one embodiment.

Figure 25A is an isometric view of the main camera body mounting base according to one embodiment.

Figure 25B is an isometric view of the main camera body mounting base according to one embodiment.

Figure 25C is an additional isometric view of the main camera body mounting base according to one embodiment.

Figure 26A is an exploded isometric view of a yaw actuation assembly according to one embodiment.

Figure 26B is an additional exploded isometric view of a yaw actuation assembly according to one embodiment.

Figure 27 is an exploded isometric view of the connection between the main camera body mounting base and the yaw actuation assembly according to one embodiment.

Figure 28A is a top view of a yaw pulley according to one embodiment.

Figure 28B is a side isometric view of a yaw pulley according to one embodiment.

Figure 28C is a lower isometric view of a yaw pulley according to one embodiment.

Figure 29A is an isometric view of a yaw pulley block according to one embodiment.

Figure 29B is a side isometric view of a yaw pulley block according to one embodiment.

Figure 29C is a lower isometric view of a yaw pulley block according to one embodiment.

Figure 30 is an isometric view of a camera console assembly according to one embodiment.

Figure 31A is an exploded side view of a counter-rotating pulley system according to one embodiment.

Figure 31B is an exploded rear view of a reverse rotating pulley system according to one embodiment.

Figure 31C is a side view of a reverse rotating pulley system according to one embodiment.

Figure 32A is an exploded isometric view of the connection between the cannula fitting clamp and the camera control console base according to one embodiment.

Figure 32B is an exploded view of the connection between a camera console assembly according to one embodiment and a cannula assembly according to one embodiment.

Figure 33A is an isometric view of a cannula assembly according to one embodiment.

Figure 33B is an exploded isometric view of a cannula assembly according to one embodiment.

Figure 34A is an isometric view of an electrical communication component cavity according to one embodiment.

Figure 34B is an isometric view of an electrical communication component cavity according to one embodiment.

Figure 34C is an isometric view of an electrical communication component cavity according to one embodiment.

Figure 35A is an exploded isometric view of the main camera body mounting base according to one embodiment.

Figure 35B is an isometric view of the main camera body mounting base according to one embodiment.

Figure 36 is an exploded isometric view of the connection between the main camera body mounting base and the yaw actuation assembly according to one embodiment.

Figure 37 is an exploded isometric view of a yaw actuation assembly according to one embodiment.

Figure 38A is a side view of a pitch actuation assembly according to one embodiment.

Figure 38B is an isometric view of a pitch actuation assembly according to one embodiment.

Figure 39A is an exploded isometric view of a camera assembly according to one embodiment.

Figure 39B is an isometric view of a camera assembly according to one embodiment.

Figure 40 is a cross-section of a camera assembly according to one embodiment.

Figure 41 is a front view of the first camera module body and the second camera module body according to one embodiment.

Figure 42 is a front view of a stereo camera assembly highlighting the yaw and pitch axes according to one embodiment.

Figure 43 is an isometric view of a stereo camera assembly in an insertion configuration according to one embodiment.

Figure 44 is an isometric view of a stereo camera assembly in an unfolded configuration according to one embodiment.

Figure 45 is a cross-section of a robot camera system with a prominent through-axis according to one embodiment.

Detailed Implementation

While this system is designed for intra-abdominal use by surgeons, many other applications are possible. For example, the user could be a physician assistant, nurse, surgical assistant, or any other surgical personnel. Furthermore, the device can be placed anywhere within the patient's body and in future implementations can be designed to be smaller to allow use in smaller areas of the patient's body. Both smaller and larger devices can be fabricated for use in areas such as the paranasal sinuses, colon, stomach, or any other region of the body, including but not limited to the abdomen, skull, and carotid arteries. Microfabrication using MEMS or other methods can make the device positionable in very small areas, such as within human blood vessels.

In some embodiments, the device can be used for non-surgical or non-medical tasks, such as bomb disposal, military reconnaissance, inspection services, or any other task requiring multiple camera views without manual camera operation. Additionally, some embodiments can be used for educational purposes, such as training personnel. Some embodiments of the device can be manufactured to life-size or even larger than life-size, allowing humans to obtain visual effects from places inaccessible or unseen by humans. Obviously, in these embodiments, the user is not necessarily a surgeon.

Overview

In certain embodiments, the surgical instrument system disclosed herein is designed for use in conjunction with a virtual reality surgical device disclosed in International Patent Application No. PCT/US2015/029246 (published as International Patent Application No. WO2015171614A1), which is included in the appendix and incorporated herein by reference in its entirety. Notwithstanding the foregoing, in some embodiments, the surgical instrument system disclosed herein may be implemented and used by other existing and future robotic surgical systems and/or devices.

The purpose of this system is to enable surgeons performing MIS (Mandatory Intraoperative Surgical) procedures to obtain multiple views and perspectives of the surgical site without having to manually operate and/or move the endoscopic camera. The system allows the surgeon to control the camera's operation based on head movement, enabling them to intuitively obtain the desired view by visually moving their head in the direction they wish to see. When using the system, the surgeon can view the surgical site, giving them a sense of being inside the patient's body, and by simply looking around, they can view the entire surgical field and obtain the desired view. This allows the surgeon to efficiently obtain the desired view, keeping them focused during the procedure and resulting in faster operative and recovery times for the patient.

Unless otherwise stated, the terms "distal" and "proximal" as used in this article refer to locations relatively far from the reference point, respectively. Generally, the reference point for the system used in this article will be the incision site on the patient's body.

Figure 1A shows a front isometric view of one embodiment of the robot camera system 100. Figure 1B illustrates one embodiment of the robot camera system 100. As shown in the embodiments illustrated in Figures 1A and 1B, the robot camera system 100 comprises a camera control console assembly 101, a cannula assembly 102, and a robot camera assembly 103. Each of the aforementioned assemblies consists of sub-assemblies and additional components, which combine to create the robot camera system 100.

Camera console assembly

As shown in Figures 1A and 1B, at the proximal end of the robot camera system 100 is the camera console assembly 101. Figures 2A to 2C show several isometric views of an illustrative embodiment of the camera console assembly 101. The camera console assembly 101 is a crucial component of the entire robot camera system 100, as it acts as the housing for the system's actuator 106. Furthermore, the camera console assembly provides critical mating and attachment functions for the cannula assembly, the camera assembly, and other devices and components in various embodiments. Moreover, the camera console assembly provides constraint and stability to the entire system by preventing movement of system components and preventing the system from separating from other components. As shown in the embodiments illustrated in Figures 2A to 2C, the camera console assembly 101 includes a number of components assembled to create the assembly.

Figure 3 shows an exploded view of one embodiment of the camera console assembly 101. In one embodiment, a camera console base 108 is located at the distal end of the camera console assembly 101. The camera console base 108 serves as a support for the system's actuator 106. Furthermore, the camera console base 108 also provides mounting points for the robot camera assembly 103 and the cannula assembly 102.

Figures 4A and 4B show several isometric views of an illustrative embodiment of the camera console base 108. In one embodiment, the camera console base 108 is configured as a plate serving as a support for the camera console assembly 101 and a mounting point for the cannula assembly 102. In some embodiments, the camera console base 108 is manufactured as two halves attached to each other via a snap-fit connection. In other embodiments, the snap-fit connection is replaced by a pin-hole connection, while in further embodiments, other connection types and/or methods are utilized, such as adhesive connections, welded connections, magnetic connections, and/or any other methods or combinations of methods known in the art. In alternative embodiments, the camera console base 108 is manufactured as a rigid member. In some embodiments, the camera console base 108 is made of stainless steel, while in other embodiments, the plate is made of plastic, ceramic, and/or other material types known in the art capable of supporting the camera console assembly 101.

As shown in the illustrative embodiments of Figures 4A and 4B, the camera console base 108 includes a plurality of actuator mounts 116 attached to the camera console base 108. In an alternative embodiment, only one actuator mount 116 is attached to the camera console base 108, while in a further embodiment, two to five actuator mounts 116, or more, may be attached to the camera console base 108 in any location. In a further embodiment, the camera console assembly is eliminated, and the actuator is housed in an external support or device.

In one embodiment, the actuator mount 116 is attached to the camera console base 108 via a screw connection. In other embodiments, the actuator mount 116 is attached to the camera console base 108 via a pin connection, and in further embodiments, other connection types and/or methods known in the art are utilized, such as adhesive connections, snap-fit connections, and/or welded connections. Alternatively, in other embodiments, the actuator mount 116 and the camera console base 108 are manufactured as a single rigid component.

Actuator mount 116 is configured to hold the system actuator 106 (FIGs 2A-2C) in place, such that the actuator 106 remains in place during system actuation. In one embodiment, actuator mount 116 attaches the actuator 106 to the camera console base 108 via a screw connection. In alternative embodiments, different types of connection methods known in the art, such as snap-fit connections, adhesive connections, and/or another method or combination of methods capable of securing the actuator, are used to couple the actuator 106 to actuator mount 116. In one embodiment, actuator mount 116 is configured with three (3) walls around actuator 106, constraining the actuator in place to prevent any movement of actuator 106 during use. In an alternative embodiment, actuator mount 116 is configured with two walls, one of which is located on either side of actuator 106, such that the actuator is clamped between the two walls. In a further embodiment, the actuator mount 116 can be omitted when the actuator 106 is directly coupled to the camera console base 108. The actuator mount 116 can be located anywhere on the camera console base 108 and is configured to allow cables from the robot camera assembly 103 to the actuator 106 via the cannula assembly 102, such that the cables do not interfere with and/or obstruct the actuation of the robot camera assembly 103.

Figure 6 shows an exploded view of one embodiment of the camera console base 108, illustrating some mating components coupled to the camera console base 108. As shown in the embodiment illustrated in Figure 6, the camera console base 108 includes an aperture for inserting a cannula fitting 114. In one embodiment, the cannula fitting 114 has a distal end extending from the aperture and a proximal end attached to the camera console base 108.

Figures 5A to 5D show several isometric views of an illustrative embodiment of the cannula fitting clamp 114. In one embodiment, the proximal portion of the cannula fitting clamp 114 is equipped with a plurality of attachment rings. These attachment rings are used to engage and connect the cannula fitting clamp 114 to a camera console base 108. In one embodiment, the attachment rings are attached to the camera console base 108 via a screw connection, wherein the attachment rings are configured to be located on top of the camera console base 108, and the screws pass through holes in the attachment rings and are screwed into holes in the camera console base 108. In other embodiments, the cannula fitting clamp 114 is attached to the camera console base 108 via an adhesive connection, while in alternative embodiments, other connection methods and/or combinations of methods known in the art are utilized, such as welding connections. Furthermore, in a further embodiment, the cannula fitting clamp 114 and the camera console base 108 are manufactured as a single rigid member.

In some embodiments, the camera control console base 108 is configured as two halves, and a cannula fitting clamp 114 is used to mate with the two halves of the camera control console base. In this embodiment, one proximal side of the cannula fitting clamp 114 is attached to one half of the camera control console base, while the other proximal side of the cannula fitting clamp 114 is attached to the other half of the camera control console base, thereby matching the two halves of the camera control console base 108.

As described above, in one embodiment, the cannula-fitting clamp 114 includes a distal end extending from the bottom of the camera console base 108, while the proximal end of the cannula-fitting clamp 114 is located on the camera console base 108. In one embodiment, the cannula-fitting clamp 114 is equipped with a connecting housing 117 (Figures 5A to 5D). In one embodiment, the connecting housing 117 extends from the proximal end of the cannula-fitting clamp 114 towards both the proximal and distal ends. In one embodiment, the connecting housing 117 is configured as a square prism with a hollow center to allow the connecting component to enter the housing and extend distally. In alternative embodiments, the connecting housing 117 may have various shapes and configurations that allow the connecting component to enter and extend distally, such as a cylinder, a triangle, and/or any other shape or configuration known in the art.

In various embodiments, various connecting components are used to mate the cannula mating clamp 114 and the cannula assembly 102. In one embodiment, a dog leg snap is used to couple the cannula mating clamp 114 to the cannula assembly 102. In this embodiment, the cannula mating clamp 114 is equipped with a connecting aperture 118 located at the front of the cannula mating clamp 114. In this embodiment, the dog leg snap (not shown) is located within a connecting housing 117 of the cannula mating clamp 114. The dog leg snap is constrained within the connecting housing 117 by friction against the rear piece of the dog leg snap pressed against the wall of the connecting housing 117, resulting in partial compression of the snap. The front piece of the dog leg snap includes a button that protrudes and enters the connecting aperture 118 of the cannula mating clamp 114, thereby securing the dog leg snap in place and coupling the camera control console assembly 101 to the cannula assembly 102.

In some embodiments, the distal end of the cannula mating clamp 114 includes a pin-and-slot connection 119 as described in the illustrative embodiments shown in Figures 5A to 5D. In one embodiment, the pin-and-slot connection 119 is located on the back side of the cannula mating clamp 114 such that it is opposite to the connecting housing 117. The pin-and-slot connection 119 is configured to couple and secure the camera console assembly 101 and the cannula assembly 102. Furthermore, the pin-and-slot connection 119 is also configured to prevent the camera console base 108 from undergoing vertical bending during use and to prevent one side of the camera console base 108 from lifting during operation of the cannula assembly 102, thereby maintaining an airtight connection between the camera console assembly 101 and the cannula assembly 102. In an alternative embodiment, the pin-to-slot connection 119 is replaced by a press-fit connection, an adhesive connection, and/or any other connection method or type known in the art that is capable of coupling and securing the camera console assembly 101 to the cannula assembly 102, and preventing the camera console base 108 from undergoing any bending and/or lifting during actuation.

Furthermore, in some embodiments, the cannula mating fixture 114 includes a communication circuit breaker. This communication circuit breaker is configured to allow an electrical communication component of the robotic camera assembly 103, arranged through the cannula assembly 102, to mate and couple with the camera rigid plate 115 (FIG. 6) to allow control information and other data to be transmitted from the robotic camera assembly 103 to the camera rigid plate 115. In various embodiments, different types of electrical communication elements may be utilized, including but not limited to flexible printed circuit boards (“FPCBs”) and/or printed circuit boards (“PCBs”). Additionally, in some embodiments, the cannula mating fixture includes a channel that allows objects, such as surgical instruments and/or devices, to pass through the camera console assembly 101 and enter and pass through the cannula assembly 102. FIG. 5B illustrates an embodiment of the cannula mating fixture 114 according to one embodiment. In these embodiments, the cannula mating fixture 114 has a channel 213 with an axis. FIG. 45 shows a cross-sectional view of a robotic camera system 300 according to one embodiment. As shown in Figure 45, when the support tube has been inserted through the cannula assembly, the through shaft 212 runs parallel to the longitudinal axis 217 of the camera support tube. As described above, this channel is configured to allow access through both the camera control assembly and the cannula assembly, enabling tools, devices, instruments, or other components to enter the operating area below the cannula assembly while maintaining a seal. This configuration allows the same cannula to be used to insert the robot camera assembly, along with tools, devices, and instruments, into the operating area, thus limiting the number of incisions required to perform the operation.

In some embodiments, the dogleg snap-fit connection described in detail above is omitted. Figure 30 shows an illustrative embodiment of the camera console assembly 301. In these embodiments, a mating spring 199 is attached to the console base 308 below the aperture in the console base 308. As shown in the embodiment in Figure 32A, the mating spring 199 is configured to have a diameter larger than the aperture on the console base 308 so that the mating spring is directly attached to the console base. In one embodiment, the mating spring is attached to the console base via an adhesive connection, while in other embodiments, different connection techniques are used, including but not limited to welding, pressing, or other techniques and/or methods known in the art. In these embodiments, a cannula mating clamp 314 is attached to the bottom of the console base 308. In one embodiment, the cannula mating clamp 314 is attached to the console base 308 using a screw connection, while in other embodiments, other connection methods known in the art are used, including but not limited to adhesive or welding. The mating spring 199 is configured to be disposed inside the cannula mating clamp 314. Furthermore, in these embodiments, the cannula 333 is manufactured with two pin-and-slot connections 201, one on each side of the cannula. The cannula 333 is configured to be housed within a cannula mating clamp 314 such that when the cannula 333 engages with the cannula mating clamp 314, the mating spring 199 pushes the cannula 333 and the console base 308 apart, while the pin-and-slot connections 201 hold the cannula 333 and the console base 308 in place. This connection provides axial stiffness to the robotic camera system. In these embodiments, to separate the cannula from the console base, the user or surgeon applies pressure to the cannula to compress the mating spring, then rotates the cannula to remove the pin from the connecting slot, thereby releasing the cannula from the cannula mating clamp and the console base. In an alternative embodiment, the mating spring 199 is located outside the cannula mating clamp. Furthermore, in a further embodiment, the cannula is configured to be located outside the cannula mating clamp.

In some embodiments, the cannula engagement clamp 114 is also used to engage and attach other components of the camera console assembly 101 to the assembly. In some embodiments, the pulley housing block 112 engages and couples with the proximal end of the cannula engagement clamp 114. As described in the illustrative embodiment of the camera console assembly 101 shown in FIG3, the pulley housing block 112 is configured to attach to the proximal end of the cannula engagement clamp 114. In one embodiment, the pulley housing block 112 is attached to the cannula engagement clamp 114 via a screw connection, while in other embodiments, the screw connection is replaced by a snap-fit connection, press-fit connection, adhesive connection, weld connection, and/or any other connection method or combination of methods known in the art.

A pulley housing block 112 is used to accommodate and constrain the camera redirection pulleys 111. In one embodiment, the pulley housing block 112 is configured to accommodate four camera redirection pulleys 111, while in other embodiments, the pulley housing block 112 is configured to accommodate at least one camera redirection pulley 111. In an alternative embodiment, the pulley housing block 112 is configured to accommodate four or more redirection pulleys 111.

The redirection pulley 111 redirects the yaw and pitch cables of the robot camera assembly 103 from the vertical direction to the horizontal direction, so that these cables can be arranged to multiple actuator pulleys 105, thereby allowing the actuator 106 to actuate the cables.

Figure 7A depicts an illustrative embodiment of the pulley housing block 112. As shown in Figure 7A, in one embodiment, the pulley housing block 112 includes a plurality of redirecting pulley slots 120. In one embodiment, the plurality of redirecting pulley slots 120 constrain a plurality of redirecting pulleys 111 (Figures 8A-8B), and each redirecting pulley 111 is located in one of the plurality of redirecting pulley slots 120. In some embodiments, the pulley housing block 112 includes only one redirecting pulley slot 120. The redirecting pulley slots 120 are configured to allow the redirecting pulleys 111 to be located in their respective slots while preventing any one of the redirecting pulleys 111 from contacting another. In one embodiment, the redirecting pulley slots 120 are angled to prevent the redirecting pulley slots 111 from contacting each other, while in other embodiments, the redirecting pulley slots 120 are spaced apart to prevent the pulleys 111 from contacting each other.

In one embodiment, the redirecting pulley groove 120 includes a shaft channel 121 located at the top of the redirecting pulley groove 120 (Figures 7A-7B). In this embodiment, a shaft with both ends is used to hold and constrain the redirecting pulley 111 within the redirecting pulley groove 120. In one embodiment, one end of the shaft is located within the slot channel 121 of one redirecting pulley groove 120 and passes through an aperture in the redirecting pulley 111, and the other end of the shaft is located within an adjacent slot channel 121 of another redirecting pulley groove 120. In some embodiments, multiple shafts are used to constrain each individual redirecting pulley 111 in its respective groove 120, while in alternative embodiments, a single shaft is used to constrain all the redirecting pulleys 111 in their respective grooves 120. In addition to constraining the redirecting pulleys 111 in their respective grooves 120, the shaft also acts as a fulcrum, thereby allowing the pulley to rotate about the shaft. The shaft can have various shapes and configurations in different embodiments, such as cylindrical, chain-like, and/or any other shape that allows the pulley to rotate about it. In an alternative embodiment, the shaft is eliminated, and each redirecting pulley 111 is manufactured to have a protrusion on each side of the pulley 111, the protrusion extending from the center of the pulley 111 and located within a shaft channel 121.

Furthermore, in some embodiments, the redirecting pulley 111 is also constrained in the redirecting pulley groove 120 via the redirecting pulley cover 110. FIG8A shows an exploded view of an illustrative embodiment of the pulley housing block 112, highlighting the redirecting pulley cover 110. As shown in the embodiment illustrated in FIG8A, the redirecting pulley cover 110 is configured to clamp the redirecting pulley 111 and attach it to the top of the redirecting pulley groove. In addition to constraining the redirecting pulleys 111 in their respective grooves, the redirecting pulley cover 110 is also configured to constrain cables, keeping the cables in contact with the redirecting pulleys 111. FIG8B shows an additional view of an illustrative embodiment of the pulley housing block 112, wherein the redirecting pulley 111 is constrained by the redirecting pulley cover 110.

In some embodiments, the redirecting pulley cover 110 is attached to the top of the redirecting pulley groove 120 by a screw connection, while in other embodiments, the redirecting pulley cover 110 is attached to the redirecting pulley groove 120 by a mating connection. In alternative embodiments, various connection techniques are used to attach the redirecting pulley cover 110 to the redirecting pulley groove 120, including but not limited to press-fit connections, adhesive connections, and/or any other techniques and/or combinations of connection techniques known in the art.

Furthermore, in some embodiments, the pulley housing block 112 includes a reinforcing rod aperture configured to allow a reinforcing rod (not shown) to enter the aperture. The reinforcing rod acts as an alignment feature for aligning the robotic camera system 100 and a device to be inserted, such as the virtual reality surgical apparatus disclosed in International Patent Application No. PCT/US2015/02926 (published as International Patent Application No. WO2015171614A1), to ensure that the device is properly aligned for insertion into the patient. Additionally, in some embodiments, the reinforcing rod is also used to mate the robotic camera system 100 with a device to be inserted into the patient.

In one embodiment, the reinforcing rod includes two threaded ends that allow the rod to be connected to the pulley housing block 112 via screws pressed into the reinforcing rod bore. In other embodiments, different connection techniques are used, including but not limited to snap-fit connections, press-fit connections, and/or any other techniques or combinations thereof known in the art. Alternatively, in some embodiments, the reinforcing rod is omitted. In various embodiments, the reinforcing rod is made of a variety of materials, including but not limited to carbon fiber, stainless steel, and/or composite materials.

In some embodiments, the pulley housing block 112 includes a flex cavity 122 located within the housing block 112. Figure 7C shows a bottom view of an illustrative embodiment of the pulley housing block 112, highlighting the flex cavity 122. The flex cavity 122 is configured to allow electrical communication components from the robot camera assembly 103 to be redirected downwards to the communication circuit breaker of the cannula-fitting clamp 114. Furthermore, the flex cavity 122 is configured to adjust the minimum permissible bending radius of the electrical communication element before the component is damaged and/or bent to the point of unusability. As described above, different types of electrical communication components may be used in various embodiments, including but not limited to flexible printed circuit boards (“FPCBs”) and/or printed circuit boards (“PCBs”).

In some embodiments, the pulley housing block 112 includes a camera support tube aperture 123 (FIG. 7B) located inside the pulley housing block 112. The camera support tube aperture 123 is configured to allow the camera support tube 124 (FIGs. 20A-20B) to mate and couple with the pulley housing block 112, thereby mates the robot camera assembly and the camera console assembly. FIG. 20A-2B show several views of illustrative embodiments of the camera support tube 124. In addition to providing a mating point for the camera support tube 124, the camera support tube aperture 123 is configured to increase the effective stiffness of the camera support tube 124 by providing bending strength when the cable is actuated. In various embodiments, the camera support tube aperture 123, formed by a wall extending downward and around the camera support tube 124, provides additional support to the tube to minimize the bending experienced by the tube when the cable is actuated, thereby preventing deformation and/or damage to the tube.

In various embodiments, different connection techniques are used to mate and couple the camera support tube 124 into the camera support tube aperture 123, including but not limited to screw connections, press-fit connections, and/or snap-fit connections. In alternative embodiments, riveting connections and/or any other connection techniques and/or combinations thereof may be used to mate and couple the camera support tube 124 into the camera support tube aperture 123.

Furthermore, in some embodiments, the pulley housing block 112 includes a mounting slot on the back of the housing block for cables to enter and exit the robot camera assembly from the pulley housing block 112, such that any component of the camera console assembly can be removed and/or swapped without disconnecting or untying the cables of the robot camera assembly.

Furthermore, in various embodiments, the pulley housing block 112 includes an insertion opening 125 (FIG. 7A). This insertion opening is configured to allow objects such as surgical instruments and/or robotic devices to pass through and enter the cannula assembly 102. In some embodiments, the insertion opening 125 is manufactured to include a sloping inner wall to allow objects and devices to pass through the opening without contacting or being jammed by any sharp edges. Additionally, the insertion opening 125 is also used to guide instruments, devices, and other objects through the cannula assembly 102 for easy insertion into the patient.

In some embodiments, the pulley housing block 112 further includes a cavity (FIG. 5B) configured to match the configuration and shape of the connecting housing 117 of the cannula-fitting clamp 114, allowing the top of the connecting housing 117 to enter and reside within the cavity. In some embodiments, the cavity is formed as an orifice to allow connectors such as dogleg clips as described above to be removed from the cannula-fitting clamp 114 without disconnecting and removing the pulley housing block 112, and to facilitate assembly of the entire system. In alternative embodiments, the cavity is configured to allow the top of the connecting housing 117 to enter a compression groove within the cavity, while in other embodiments, the cavity is omitted.

In some embodiments, the camera console assembly 101 further includes a console mating support 113 attached to the camera console base 108. Figures 9A and 9B show isometric views of an illustrative embodiment of the console mating support 113. The console mating support 113 serves as an alignment feature and reinforcing element for the entire system 100. In one embodiment, the console mating support 113 includes an aperture for alignment, configured to allow a reinforcing rod to enter the aperture, wherein the rod is coupled to the console mating support 113 via a screw connection. In alternative embodiments, various connection techniques are used to couple the reinforcing rod to the console mating support 113, including but not limited to snap-fit connections, press-fit connections, threaded connections, and/or any other connection techniques or combinations thereof in the art.

Furthermore, as described above, in various embodiments, the console mating support 113 is configured to provide additional stability to the entire system. In some embodiments, a plurality of reinforcing buffers 218 (Figures 9A-9B) are located on the inner surface of the aperture used for alignment, contacting reinforcing rods inserted into the aperture. In these embodiments, the reinforcing buffers 218 are manufactured as semi-cylinders extending from the top to the bottom of the aperture. The reinforcing buffers are configured to reduce over-constraint in the system 100 by providing minimal contact with the reinforcing rods, thereby stabilizing and securing the rods when using the system 100.

As described above, the console mating support 113 is attached to the camera console base 108. FIG9C shows a bottom outline view of an illustrative embodiment of the console mating support 113. As shown in the embodiment shown in FIG9C, a plurality of connection holes 219 are located at the bottom of the console mating support 113 for coupling and attaching the console mating support 113 to the camera console base 108 (not shown). In various embodiments, various connection techniques and methods are used, such as screw connections, press connections, snap connections, and/or any other methods or techniques or combinations thereof known in the art capable of securing and coupling the console mating support 113 to the camera console base 108. Similarly, as described in the illustrative embodiment shown in FIG9B, in some embodiments, a plurality of mating holes 220 are located on the upper surface of the console mating support 113. In these embodiments, the mating holes are used to mate the top of the console mating support 113 with the upper console body 107 (not shown). In various embodiments, various connection techniques and methods are used, including but not limited to threaded connections, snap connections, press connections, adhesive connections, and/or any other methods or techniques known in the art.

In alternative embodiments, the camera console assembly does not include a console mating support. As described in the illustrative embodiment shown in FIG30, in some embodiments, the camera console assembly 301 includes a plurality of reinforcing rod apertures 216 for mating and coupling the upper console body 307 to the camera console base 308. In these embodiments, the reinforcing rods enter and pass through the reinforcing rod apertures 216 and enter and mate with slots located on the camera console base 308 to couple the upper console body 307 and the camera console base 308. Furthermore, in some embodiments, the upper console body 307 includes alignment slots 205 for aligning a device to be inserted into and enter the patient's body through the cannula assembly. In these embodiments, one end of an alignment rod enters and mates with the alignment slot 205, and the other end enters a corresponding slot on the device, thereby aligning the device for insertion of the cannula assembly. Additionally, a positioning rod also mates the device with the console assembly.

In some embodiments, the camera console assembly 101 includes a flexible shield 109 attached to the bottom of the camera console base 108. Figures 10A to 10C show several views of illustrative embodiments of the flexible shield 109. The flexible shield 109 provides a protective housing for electrical communication components arranged from the robot camera assembly to prevent these components from coming into contact with other objects and components during system use. Furthermore, in some embodiments, the flexible shield 109 provides a surface for the camera rigid plate 115 (Figures 11A to 11B) to lie on, and a mating surface that allows the camera rigid plate 115 to couple to the camera console base 108.

As shown in the embodiments illustrated in Figures 10A to 10C, in one embodiment, the flexible shield 109 includes a contour edge configured to have the same shape as the proximal portion of the cannula assembly 102 to allow the flexible shield 109 to run along the outer surface of the proximal portion of the cannula assembly 102. In various embodiments, the contour edge may take various configurations to allow the flexible shield 109 to run along the outer surface of the proximal portion of the cannula assembly 102, while in other embodiments, the contour edge is omitted. Furthermore, in some embodiments, the flexible shield includes a sidewall 126. The sidewall 126 provides protection for the electrical communication assembly arranged from the robotic camera assembly 103 to the camera rigid plate 115. Additionally, as shown in the embodiments illustrated in Figures 10A to 10B, the sidewall 126 extends proximally to provide separation from the camera console base 108 to allow the electrical communication assembly to enter the flexible shield 109 and engage with the camera rigid plate 115. In some embodiments, the sidewall 126 runs along the entire edge of the flexible shield 109, while in other embodiments, the sidewall 126 runs only along a portion of the edge of the flexible shield 109.

As described above, in some embodiments, the flexible shield 109 mates with and couples to the bottom of the camera console base 108. In various embodiments, various connection methods and techniques are used to couple the flexible shield 109 to the bottom of the camera console base 108, including but not limited to threaded connections, snap-fit connections, press-fit connections, welded connections, and/or adhesive connections. In one embodiment, the flexible shield 109 includes a plurality of flexible shield supports 127 (Figures 10A to 10C). In this embodiment, the flexible shield supports 127 provide a surface for the flexible shield 109 to mate with and couple to a camera rigid plate 115, which is coupled to both the flexible shield 109 and the bottom of the camera console base 108. Furthermore, in this embodiment, the flexible shield supports 127 are also used to elevate the camera rigid plate 115 to allow electrical communication components to be connected to the bottom and top of the camera rigid plate 115, as further detailed below.

Figures 11A and 11B illustrate multiple views of the connection between the flexible shield 109 and the camera rigid plate 115. In one embodiment, a screw enters through the bottom of the flexible shield 109, passes through the flexible shield support 127 along with the screw through a hole in the camera rigid plate 115, and through a frame clamped between the camera rigid plate 115 and the camera console base 108, with the screw entering a screw connection hole in the camera console base 108. In alternative embodiments, the screw connection can be replaced by other connection techniques known in the art, including but not limited to press-fit connections and/or snap-fit connections.

As described above, the camera rigid plate 115 rests against the flexible shielding support 127. The camera rigid plate 115 acts as a medium for electrical communication components arranged from the robot camera assembly 103, and the rigid plate extracts data and information for the electrical communication components and arranges the information to desired locations, such as motor control boards and external computers. In one embodiment, the camera rigid plate 115 includes an upper surface and a lower surface, both of which contain multiple connectors for connection to the electrical communication components.

As described above, various electrical connection components are used in various implementations, including but not limited to PCBs and FPCBs. In one implementation, an FPCB from the camera rigid plate 115 is arranged to a motor control board, and the FPCB provides attitude and orientation sensor data from the robot camera assembly. Similarly, in one implementation, two FPCBs are arranged from the camera rigid plate 115 to a computer board, which provides camera input and data obtained from sensors located on the robot camera assembly. Furthermore, in one implementation, the camera rigid plate 115 includes multiple tracks arranged across the plate and configured to ensure that the tracks of the electrical connection components from the robot camera assembly contain the same length, so that data and camera input arrive at their respective positions simultaneously, thereby reducing any interruptions in the system's data flow.

As described above, in some embodiments, the camera rigid plate 115 is operatively connected to a motor control board. The motor control board is configured to process attitude and orientation data obtained from sensors in the robotic camera assembly and from a sensor system tracking the attitude and orientation of a head-mounted display worn by the surgeon, as detailed below. The motor control board processes the data from the aforementioned sensors and sensor system and transmits actuation commands to a plurality of actuators 106 to instruct the actuators 106 how much actuation force should be applied to the cables of the robotic camera assembly to actuate the stereo camera 143 to follow and align with the surgeon's head movements. In these embodiments, the motor control board is rigidly attached to the camera console assembly.

As described above, in some embodiments, the camera console base 108 is equipped with a plurality of actuator mounts 116 (FIG. 2A) for securing a plurality of actuators 106. The actuators 106 are used to actuate cables originating from the robot camera assembly 103. In some embodiments, actuator pulleys 105 are operatively coupled to the actuators 106. In these embodiments, the actuator pulleys 105 are configured to transmit torque from the actuators 106 to the cables of the robot camera assembly. In some embodiments, the actuator pulleys 105 are surrounded by actuator pulley covers 104 attached to the top of the actuators 106. The actuator pulley covers 104 are configured to constrain and retain the cables within recesses of the actuator pulleys 105 during actuation.

In different implementations, different types of actuators are used, including but not limited to servo motors, rotary actuators, linear actuators, and/or stepper motors. In one implementation, system 100 includes four (4) actuators, with two actuators designated for actuating the yaw cable and two actuators designated for actuating the pitch cable originating from robot camera assembly 103. Alternatively, in another implementation, system 100 includes only two (2) actuators, with one actuator designated for actuating the yaw cable and one actuator designated for actuating the pitch cable originating from robot camera assembly 103.

In addition to securing the actuator 106 to the camera console base 108 via the actuator mounting bracket 116, in some embodiments, the upper console body 107 is used to provide additional stability to the entire system 100 and to hold the actuator 106 in place. The upper console body 107 is configured to constrain the camera console assembly 101 and prevent the assembly from bending and collapsing inward due to tension from the actuator 106 during cable actuation.

As shown in the illustrative embodiment of the camera console assembly 101 in Figure 2C, the upper console body 107 is located near the actuator 106 and is configured to attach to the upper surface of the actuator 106. Figure 12 shows an isometric view of an illustrative embodiment of the upper console body 107. As shown in Figure 12, in one embodiment, the upper console body 107 includes a plurality of attachment holes for attaching the upper console body 107 to the actuator 106 (as shown in Figure 12) and for attaching and securing a plurality of actuator pulley covers 104 to the top of the upper console body 107 and around the actuator pulleys 105. Furthermore, in some embodiments, the attachment holes are used to couple and fit the upper console body to the upper surface of the pulley housing block 112 and to couple the upper console body 107 to the upper surface of the console mating support. In various embodiments, different connection methods and techniques known in the art are used, including but not limited to screw connections, press-fit connections, snap-fit connections and/or any other methods or techniques known in the art or combinations thereof.

As shown in FIG12, in one embodiment, the upper console body 107 includes a plurality of actuator apertures 128. The number of actuator apertures 128 is directly related to the number of actuators 106 in the system 100; therefore, in some embodiments, the upper console body 107 includes only one actuator aperture 128, while in other embodiments, two (2) to four (4) or more actuator apertures 128 may be found in the upper console body 107. The actuator apertures 128 are configured to have the shape of actuators 106, and actuator pulleys 105 are attached to the actuators such that the upper surface of the actuators 106 is flush with the upper console body 107, so that the actuator pulleys 105 are located above the upper console body 107 (FIG. 2C).

Similarly, in some embodiments, the upper console body 107 includes a device opening 129 located at the center of the plate. In one embodiment, the device opening 129 is located directly above the pulley housing block 112, and the opening is configured to have a sufficiently large cross-sectional area to allow access to the redirecting pulley 111, and to allow a device and/or object to pass through the device opening 129 and enter an insertion opening 125 in the pulley housing block 112. Furthermore, in some embodiments, the device opening 129 is configured to provide space for a reinforcing rod to pass through and enter an aperture located on the console mating support 113.

In some embodiments, the upper console body 107 includes a proximal reinforcing rod aperture 130. In these embodiments, the proximal reinforcing rod aperture 130 is located directly above the reinforcing rod aperture of the pulley housing block 112. Furthermore, in these embodiments, the proximal reinforcing rod aperture 130 is configured to have the same cross-section as the reinforcing rod aperture, such that the reinforcing rod passes through the proximal reinforcing rod aperture 130 and enters the reinforcing rod aperture.

In one embodiment, the upper console body 107 is manufactured as two halves attached to each other via a mating connection. In other embodiments, the mating connection is replaced by a pin-hole connection, and in further embodiments, other connection types and/or methods are utilized, such as adhesive connections, welded connections, magnetic connections, and/or any other method or combination of methods known in the art. In alternative embodiments, the upper console body 107 is manufactured as a rigid member. In some embodiments, the upper console body 107 is constructed of stainless steel, while in other embodiments, the plate is made of plastic, ceramic, and/or other material types known in the art capable of supporting the camera console assembly 101.

As described above, in some embodiments, the camera console assembly is configured to have two actuators. Figure 30 illustrates an illustrative embodiment of a camera console assembly 301 including two actuators. In these embodiments, each actuator 306 has a set of two (2) counter-rotating pulleys 200a and 200b, providing a degree of actuation. In these embodiments, a cable is used with one actuator, a set of counter-rotating pulleys, and a torsion spring 202 to provide a yaw or pitch degree of freedom to the camera assembly. Figures 31A to 31C show illustrative embodiments of the counter-rotating pulley assembly. As shown in Figures 31A to 31C, in these embodiments, the counter-rotating pulleys 200a and 200b are stacked together, and the lower counter-rotating pulley 200b is directly attached to the actuator 306. Between the set of counter-rotating pulleys 200a and 200b is a torsion spring 202, which is located in a housing between the set of counter-rotating pulleys. The torsion springs are coupled to both the upper and lower counter-rotating pulleys 200a and 200b. The upper counter-rotating pulley 200a is translationally constrained, allowing it to rotate only about its axis. Both the lower and upper counter-rotating pulleys have termination points where one end of the actuation cable terminates. The cable is arranged via a yaw or pitch actuation assembly, with one end of the cable arranged around and terminated on the lower counter-rotating pulley 200b, and the other end arranged around and terminated on the upper counter-rotating pulley 200a. Terminating the cable fixes its length, ensuring that when the actuator is actuated, both pulleys rotate in the same direction, rotating the stereo camera about the desired degree of freedom in either the positive or negative direction.

In these embodiments, when the actuator actuates the lower counter-rotating pulley 200b, the pulley pulls in the end of the cable terminating on it. As the lower counter-rotating pulley 200b rotates, the upper counter-rotating pulley 200a also rotates due to the coupling between the pulleys. The pull in the cable translates or tilts the stereo camera, depending on how the cable is arranged through the camera assembly. To translate or tilt the stereo camera in the opposite direction, the actuator rotates in the opposite direction. When the actuator rotates in the opposite direction, the torsion spring 202 applies a force to the upper counter-rotating pulley 200a, causing the torsion spring to return to its free state. The force applied by the torsion spring slackens the other end of the cable, thereby translating or tilting the stereo camera in the opposite direction.

Cannula assembly

As detailed above, attached to the distal end of the cannula mating clamp 114 is the cannula assembly 102. Figure 13 shows an exploded view of one embodiment of the cannula assembly 102. As shown in the embodiment illustrated in Figure 13, the cannula assembly 102 comprises multiple components coupled together to create the assembly. The cannula assembly 102 functions as an entry point for surgical devices, tools, and/or any other object to be inserted into the patient's body.

In one embodiment, the cannula assembly 102 includes a cannula 133. Figure 14A illustrates an illustrative embodiment of the cannula 133 according to one embodiment. The cannula 133 is configured to allow the robotic camera assembly 103 and other surgical devices and tools located outside the patient's body to enter the patient's body while maintaining a seal so that the patient's abdomen remains inflated throughout the procedure.

Figure 14B shows an exploded view of a cannula 133 according to one embodiment. As shown in Figure 14B, in one embodiment, the cannula 133 is manufactured as two parts: a main cannula body 135 and a cannula neck 136. The main cannula body 135 includes a distal portion configured to be located within the cannula neck 136. In one embodiment, the main cannula body 135 is coupled to the cannula neck 136 via an adhesive connection to create an hermetically sealed area, thereby preventing air or carbon dioxide from escaping through the cannula 133 during injection. In other embodiments, the main cannula body 135 is attached to the cannula neck 136 using various connection methods and techniques known in the art. Alternatively, in other embodiments, the main cannula body 135 and the cannula neck 136 are manufactured as a single unit.

During use, the main cannula body 135 is located on the patient's external abdominal wall, and the cannula neck 136 is inserted into the patient's abdominal wall, allowing the insertion of the robotic camera assembly 103 and various surgical devices and instruments. In one embodiment, a wing ring 134 is attached to the cannula neck 136. The wing ring 134 is configured to attach the cannula assembly 102 to the patient's external abdominal wall to prevent any movement of the cannula assembly 102 during surgery and when the robotic camera assembly and surgical devices and instruments are inserted into the patient's body. Figures 18A and 18B show multiple views of the wing ring 134 according to one embodiment. As shown in Figure 18B, in one embodiment, the wing ring 134 is configured as a body with a hollow center, and said center is configured to engage around the cannula neck 136. In this embodiment, screws 142 are located on both sides of the body of the wing ring 134. The screws 142 are used to secure the cannula assembly 102 to the patient's body. During the surgical procedure, once the surgeon inserts the cannula neck 136 into the patient's abdominal wall, the surgeon wraps a surgical suture around each screw 142 and sutures the suture into the patient's abdominal wall, thereby securing the cannula assembly 102 to the patient's body. In one embodiment, the wing ring 134 is coupled to the cannula neck 136 by two friction-fixed screws. In other embodiments, the wing ring 134 is coupled to the cannula neck 136 using various coupling methods and techniques known in the art, including but not limited to mating connections, adhesive connections, welded connections, and/or screw connections. Alternatively, in other embodiments, the wing ring 134 and the cannula neck 136 are manufactured as a single unit.

In one embodiment, the main cannula body 135 includes a sealing port 137 located on a side wall of the main cannula body 135. In this embodiment, a Luer lock connection passes through the sealing port 137 and connects to an air port 140 located on an expandable seal 132, as detailed below. The sealing port 137 is located on the side wall of the main cannula body 135 to pump air into a plurality of sheaths 139 located on the inner wall of the expandable seal 132. In this embodiment, an air hose is coupled to the Luer lock connection and to the pump. When air is pumped into the plurality of sheaths 139 via the air port 140, the sheaths 139 expand and enlarge, creating a device-compliant seal around the cannula 133 inserted into the patient via the cannula assembly 102, preventing loss of pneumoperitoneum.

In some embodiments, located inside the main cannula needle body 135 is a sealing sub-assembly 138 consisting of two seals—an expandable seal 132 and a universal seal 131. Figures 15A and 15B illustrate illustrative embodiments of the sealing sub-assembly 138. In one embodiment, the expandable seal 132 is manufactured as a cylinder having a proximal end, a distal end, and a hollow center. Figures 19A and 19B illustrate an expandable seal 132 according to one embodiment. In some embodiments, located inside the expandable seal 132 on both sides of the seal are a plurality of sheaths 139. Figures 16A and 16B show a cross-section of an illustrative embodiment of the sealing sub-assembly 138, highlighting the sheaths 139. The plurality of sheaths 139 are attached to the outer wall of the seal and extend from the proximal end of the seal to the distal end of the seal. The plurality of sheaths 139 are attached to the inner wall of the expandable seal 132 using standard attachment methods and techniques known in the art, including but not limited to adhesive bonding. In one embodiment, a plurality of sheaths 139 are configured to have two ends, each end having an O-ring that acts as a mechanical washer.

Furthermore, in these embodiments, an air port 140 protruding from one wall of the expandable seal 132 is located thereon. The air port 140 is threaded to engage with a Luer lock fitting through a sealing port 137 of the main cannula body 135, thereby restricting rotational and axial movement of the expandable seal 132. Additionally, in these embodiments, the air port 140 is also operatively coupled to a plurality of resilient sheaths 139. In these embodiments, the air port 140 includes a Luer lock to allow carbon dioxide ( _CO2 ) or air to be pumped into the plurality of sheaths 132. As detailed above, when air is pumped into the plurality of sheaths 139, the sheaths expand and extend to create a conformal seal that conforms to the device through the main cannula body 135, thereby preventing gas leakage from the patient's abdomen and allowing simultaneous manipulation of the device. Due to the resilient nature of the sheaths 139, the plurality of devices can be and/or arranged through the cannula assembly 102 while maintaining an airtight seal. In various embodiments, the plurality of sheaths 139 can be made of various materials, including but not limited to latex, neoprene, rubber, and/or any material known in the art capable of conforming to any shape upon expansion. Furthermore, in a further embodiment, the plurality of sheaths 139 are replaced by a single resilient sheath covering the entire inner circumference of the expandable seal 132. In alternative embodiments, the air port on the expandable seal is omitted. In these embodiments, the expandable seal includes an aperture aligned with the sealing port of the cannula. An air hose is directly arranged to a Luer lock connection through the sealing port on the cannula and directly engages with the aperture on the expandable seal.

In other embodiments, the expandable seal is replaced by other seals known in the art, such as those described above. In this embodiment, carbon dioxide is continuously pumped in through a conduit in the cannula, creating a pressure differential to prevent gas leakage during tool insertion and operation. In alternative embodiments, the expandable seal is replaced by a compliant material that similarly fills the space in the cannula and conforms to the shape of the tool, device, or other article passing through the cannula. In some embodiments, a duckbill seal is used; in further embodiments, a combination of seals known in the art is utilized to prevent gas leakage during tool insertion and throughout the operation.

In one embodiment, the proximal and distal ends of the expandable seal 132 are configured to have threaded ends to allow the distal end to mate with the main cannula body 135 and to mate with and couple with the proximal end of the universal seal 131. In alternative embodiments, various connection and attachment methods known in the art are used to couple the expandable seal 132 to the main cannula body 135, and to couple the universal seal 131 and the expandable seal 132, including but not limited to adhesive connections, snap-fit connections, and/or screw connections.

As illustrated in the embodiments shown in Figures 16A and 16B, a universal seal 131 is coupled to the proximal end of the expandable seal 132. The universal seal 131 serves as a secondary seal, and the expandable seal serves as a primary seal. The universal seal 131 is configured to provide an additional sealing layer to the cannula assembly 102 to ensure no injection pressure loss during insertion and removal of the surgical device and/or tool from the patient, and to ensure no loss of injection pressure during system use and actuation. The universal seal is configured to have a hollow center, allowing the robotic camera assembly, and the surgical device and/or tool, to pass through the patient's body and be inserted or removed from the patient. In one embodiment, the universal seal 131 is configured as a cylinder, comprising a distal end and a proximal end, the distal end having a larger diameter than the proximal end. In one embodiment, the universal seal 131 is manufactured as two components that are bonded to each other via standard connection methods and techniques, including but not limited to screw connections, press-fit connections, snap-fit connections, adhesive connections, and/or screw connections.

In one embodiment, the proximal end of the universal seal 131 is provided with a plurality of sealing flaps 141 extending inwardly from the outer periphery of the seal to the hollow center of the seal (Figures 16A to 16B). In one embodiment, the plurality of sealing flaps 141 are attached to the outer periphery by an adhesive connection, while in other embodiments, the outer periphery is clamped around the outer edge of each sealing flap 141 via a screw connection. Alternatively, in other embodiments, the sealing flaps 141 are attached to the outer periphery of the universal seal 131 using standard connection methods and/or techniques known in the art, including but not limited to press-fit connections and/or snap-fit connections.

In some embodiments, the plurality of sealing flaps 141 are configured to allow objects to overlap each other in a manner that passes through the hollow center of the universal seal 132, while conforming around the object through which they pass, to create a seal that prevents air from escaping from the patient's body. In one embodiment, the plurality of sealing flaps 141 are manufactured in a semi-circular shape, with each of the flaps overlapping a portion of another flap. In alternative embodiments, the plurality of sealing flaps 141 may be configured in any of a variety of shapes, including but not limited to triangular, parallelogram, elliptical, and/or crescent-shaped. Furthermore, in various embodiments, the sealing flaps 141 are made of a variety of materials having flexible and resilient properties, including but not limited to rubber, latex, neoprene, silicone, and/or any other flexible and resilient materials known in the art.

As described above, in one embodiment, the universal seal 131 is configured to have a distal end with a diameter greater than that of the proximal end of the universal seal 131. In this embodiment, the distal end is configured to have a hollow center and sidewalls extending distally to allow the proximal end of the expandable seal 132 to be located within the distal end of the universal seal 132, such that the sidewalls of the universal seal 131 surround the proximal end of the expandable seal 131. In one embodiment, located on the inner circumference of the distal sidewall of the universal seal 132 is a groove configured to allow the insertion of an O-ring from the resilient sheath 139 of the expandable seal 132. In this embodiment, the distal end of the universal seal 131 engages around the proximal end of the expandable seal 132, and the O-ring from the sheath 139 enters the groove on the inner wall of the distal end of the universal seal 131, thereby forming an interference fit and coupling the universal seal 131 and the expandable seal 132. In an alternative embodiment, standard attachments known in the art are used to couple the universal seal 131 and the expandable seal 132, including but not limited to adhesive connections, screw connections, press-fit connections and/or snap-fit connections.

In alternative embodiments, the universal seal can have various configurations. As described in the illustrative embodiment shown in FIG33B, in one embodiment, the universal seal 331 comprises three components, and the universal seal mates with an expandable seal 332. In this embodiment, the universal seal 331 includes an upper sealing cap 203, a sealing flap 341, and a lower sealing cap 204. The sealing flap 341 is coupled between the upper sealing cap 203 and the lower sealing cap 204. The upper sealing cap 203 is configured to have a hollow center and an inner lip in which the sealing flap 341 and the lower sealing cap 204 are manufactured. Furthermore, in this embodiment, the expandable seal 332 is also configured to be disposed within the inner lip of the upper sealing cap 203. In some embodiments, the upper sealing cap 203 of the universal seal 331 is configured to have the same outer diameter as the proximal portion of the cannula needle 333, such that the upper sealing cap couples with and mates with the cannula needle 333. Furthermore, as shown in FIG33A, in these embodiments, the upper sealing cap 203 is manufactured with a mating groove connection for the cannula pin 333 to allow a pin to enter and engage with the cannula pin engagement clamp 314 of the camera console assembly 301 detailed above. In one embodiment, the upper sealing cap 203 is coupled to the cannula pin 333 via a screw connection, while in other embodiments, various connections known in the art are used, including but not limited to adhesive connections or press-fit connections.

Robot camera assembly

As shown in Figure 19A, in one embodiment of the system, a robotic camera assembly 103 is located at the distal end of the camera console assembly 101. Figure 19B is an exploded view of the coupling between the robotic camera assembly 103 and the camera console assembly 101 according to one embodiment. The robotic camera assembly 103 is configured to provide real-time camera input of the surgical site to the surgeon and enable the surgeon to actuate and control the stereo camera 143, thereby allowing the surgeon to obtain multiple views of the surgical site. As detailed below, in one embodiment, the surgeon controls the movement of the stereo camera 143 based on the movement of the surgeon's head, thereby enabling the surgeon to obtain the desired view of the surgical site in an intuitive and natural manner.

As described above, in one embodiment, the robotic camera assembly 103 is coupled to the camera control console assembly 101 (FIG. 19B) via a camera support tube 124. The camera support tube 124 is configured to have a distal end and a proximal end, the proximal end being connected to the camera control console assembly 101 and the distal end being connected to the stereo camera 143. In addition to supporting the stereo camera and coupling the robotic camera assembly 103 to the camera control console assembly 101, the camera support tube 124 is also configured to arrange and protect cables and electrical connections from the robotic camera assembly 103 to the camera control console assembly 101, such that the cables and electrical connections are not damaged during system insertion and actuation, and when other devices are inserted into the patient via the cannula assembly 102.

In one embodiment, the camera support tube 124 has a plurality of channels and/or grooves configured to allow cables to reside therein, providing a track for the cables to be arranged to the camera console assembly 101, and protecting the cables when the system is actuated. In an alternative embodiment, the camera support tube is equipped with a cavity for cable arrangement. Furthermore, in one embodiment, the camera support tube 124 includes grooves and/or corrugations configured to arrange electrical communication components from the stereo camera to the camera console assembly. In an alternative embodiment, the grooves and/or corrugations are located on one side of the camera support tube 124 so that the electrical communication components are flush with the support tube to prevent bending and damage to the electrical communication components.

In one embodiment, the camera support tube 124 is coupled to the pulley housing block 112 of the camera console assembly 101 via a screw connection, while in other embodiments, standard coupling methods and techniques known in the art are used, including but not limited to snap-fit connections, press-fit connections, adhesive connections, and/or welded connections. The camera support tube 124 is configured to engage and pass through the cannula assembly 102 to allow the robotic camera assembly 103 to be inserted into the patient.

In some embodiments, the camera support tube 124 is configured with a vertical offset to prevent the stereo camera from interfering with other instruments or devices inserted through the cannula assembly 102. In these embodiments, the proximal portion of the camera support tube remaining in the cannula assembly has a small cross-sectional area to allow other instruments and/or devices to enter the operating area through the cannula. The distal end of the camera support tube has a vertical offset such that when the camera support tube is within the operating area, the distal end of the camera support tube is slightly upwardly shifted to allow the stereo camera to remain above the space allowed for other instruments and/or devices to enter the operating area through the cannula assembly. In other embodiments, the distal end of the camera support tube is manufactured with a horizontal or angular offset, and in a further embodiment, the camera support tube is manufactured with both a horizontal and vertical offset.

As described above, in one embodiment, a stereo camera 143 (FIG. 21B) is operatively coupled to the distal end of the camera support tube 124. FIG. 21A shows an isometric exploded view of an illustrative embodiment of the stereo camera 143. The stereo camera 143 is used to provide the surgeon with real-time stereoscopic camera input of the surgical site during surgery. The stereo camera 143 is configured to enter and pass through the cannula assembly and into the patient's body. In some embodiments, the stereo camera has an actuation system having a pitch actuation assembly and a yaw actuation assembly, as well as a camera assembly having two camera modules or a camera module assembly, and other components as detailed below.

In one embodiment, the stereo camera 143 includes a main camera body 144, which is used to couple and engage the stereo camera 143 with a camera support tube 124. Figures 24A and 24B show several views of illustrative embodiments of the main camera body 144. In one embodiment, the main camera body 144 also serves as a support for the stereo camera 143 and its components. Furthermore, in some embodiments, the main camera body 144 is configured to retain and redirect electrical communication components and cables from the stereo camera 143 to the camera support tube 124. In one embodiment, a groove and/or channel are located on the upper surface of the main camera body 144, which are used to route the cable from the stereo camera 143 to the camera support tube 124. Furthermore, in one embodiment, the main camera body 144 includes an electrical communication component cavity 145, in which the electrical communication component is disposed. In one embodiment, the electrical connection component cavity 145 is configured to allow the electrical connection component to move within the bag, providing space for the electrical connection component to move and extend during stereoscopic camera operation, so that the component will not bend or fold and therefore will not be damaged.

As seen in Figures 34A and 34B, in one embodiment, the electrical connection component cavity 345 is equipped with a zigzag guide 198 and a constant force spring 197 for arranging the electrical connection component. In these embodiments, the electrical connection component is arranged via a yaw pulley block 166 and a protrusion 171 around said yaw pulley block 166 in the same manner as detailed below. As shown in Figure 34B, in one embodiment, after winding around the yaw pulley block, the electrical connection component is wound around the zigzag guide 198 such that a portion of the electrical connection component can move freely during yaw actuation, thereby allowing the electrical connection component to extend into the electrical connection component cavity 345 or to rewind around the yaw pulley block according to the actuation direction of the stereo camera about the yaw axis. In these embodiments, one end of the constant force spring 197 is coupled to the protrusion of the yaw pulley block 166, while the other end of the constant force spring 197 is wound around a spring coil 196 (Figure 34A). A spring reel 196 is located on a pin in the cavity of the electrical connection assembly, and the spring reel rotates about the pin. A constant force spring 197 follows the electrical connection assembly, as the electrical connection assembly is wound around the yaw pulley block, such that the electrical connection assembly is surrounded by the constant force spring. The constant force spring 197 is configured to apply an inward radial force to the electrical connection assembly to prevent the connection assembly from twisting or jamming in the space around the yaw pulley block, and to wind the assembly around the yaw axis during actuation of the stereo camera.

In one embodiment, a body buckling cover 146 (FIG. 19A) is attached to the upper surface of the main camera body 144. The body buckling cover 146 is configured to provide an additional protective layer to the electrical communication assembly located in the electrical communication assembly cavity 145 and to provide a bearing surface for coupling and mating with the main camera body mounting base 147. In one embodiment, the body buckling cover 147 is coupled to the main camera body by a screw connection, while in other embodiments, standard coupling and attachment methods known in the art are used, including but not limited to snap-fit connections, adhesive connections, and/or press-fit connections.

As described above, in one embodiment, the main camera buckle cover 146 provides a bearing surface for the main camera body mount 147 to rotate. Figures 25A to 25C show several views of an illustrative embodiment of the main camera body mount 147. The main camera body mount 147 acts as a housing for the pitch actuation assembly 148 (Figures 22A to 22C) of the stereo camera 143, to which the left camera assembly 149 and the right camera assembly 150 are coupled. Furthermore, the main camera body 144 is also connected to the stereo camera 143 via the main camera body mount 147. Additionally, in one embodiment, the main camera body mount 147 also provides a connection point for the yaw actuation assembly 151 (Figure 27) of the robot camera assembly 103. In one embodiment, located on the upper surface of the main camera body mount 147 is a yaw bearing protrusion 152, which forms a bearing ring for the ball bearing to rest and roll along. In addition, in one embodiment, the upper surface of the main camera body mount 147 includes a mechanical stop to prevent the stereo camera 143 from rotating and being actuated beyond its permissible actuation range, and to prevent damage to electrical communication components disposed through the main camera body mount 147 during actuation.

In one embodiment, the main camera body mount 147 is configured to have a hollow center to allow pitch rotation of the left camera assembly 149 and the right camera assembly 150. Furthermore, in one embodiment, the main camera body mount 147 includes a plurality of apertures, one aperture for connecting the main mounting insert 153, one aperture for accommodating a cable from the pitch actuation assembly 148, one aperture serving as an alignment pin hole for aligning the left camera assembly 149 and the right camera assembly 150, and one aperture for accommodating an electrical connection assembly through the main camera body mount 144. In one embodiment, the main camera body mount 147 includes machined surface holes within which a rotation attitude sensor 209 and a capacitor are located, thereby allowing the electrical connection assembly to be operatively coupled to the rotation attitude sensor 209 and the capacitor, so that it rests against the outer surface of the main camera body mount 147 (FIGs 21B and 25C), and thus preventing any damage to the electrical connection assembly during actuation of the stereo camera 143. In one embodiment, the rotational attitude sensors are orthogonally positioned relative to each other, with the sensors centered on the pitch rotation axis. In one embodiment, two rotational attitude sensors are coupled to the main camera body mount 147, while in other embodiments, three or more rotational attitude sensors are coupled to the main camera body mount. The rotational attitude sensors are used to acquire attitude and orientation data of the stereo camera, which is transmitted to an external computer via an electrical connection component. In various embodiments, different types of attitude and orientation sensors are used, including but not limited to Hall effect sensors and capacitors, gyroscopes, accelerometers, and/or optical encoders.

Furthermore, in one embodiment, the main camera body mount 147 includes a pocket into which the main mounting insert 153 enters and couples. In one embodiment, the pocket is configured such that the main mounting insert 153 couples to the main camera body mount 144 and prevents the main camera body mount 144 from moving during actuation and separating from the rest of the robot camera assembly. The main mounting insert 153 will be described in further detail below. Additionally, in one embodiment, a keyway is located on the inner wall of the main camera body mount 147, configured to constrain the rotation of the pitch bearing ring 154.

In various embodiments, to facilitate the assembly and repair of the pitch actuation assembly 148, the main camera body mount is manufactured as multiple mutually coupled components. As shown in the illustrative embodiments illustrated in Figures 35A and 35B, in one embodiment, the main camera body mount 347 includes a main mount 181, a main mount cover 182, and a main mount strap 183. In addition to providing a housing for the pitch actuation assembly 148, in this embodiment, the main camera body mount 347 is also used to connect the main camera body 144 to the camera assembly of the stereo camera 143. As shown in Figure 35B, located on the upper surface of the main mount 181 is a yaw bearing protrusion 352, which forms a bearing ring for the yaw ball bearing to rest and roll along.

Furthermore, in some embodiments, the main mounting base 181 includes a mechanical stop to prevent the camera assembly from being actuated and rotated beyond its permissible range of motion. In one embodiment, the mechanical stop is configured as two concentric rings, one being an inner ring fixed to the body buckling cover, and the other being an outer ring that rotates concentrically on the main mounting base. In this embodiment, both concentric rings include radial protrusions, the protrusion on the inner ring extending radially outward, and the protrusion on the outer ring extending radially inward, so that these protrusions do not directly interfere with each other. The coaxial inner and outer rings are spaced apart so that they form a track in which bearing balls can move freely. The formed track is configured to be slightly larger than the bearing balls, but constrains the bearing balls along a circular path. During actuation of the camera assembly about the yaw axis, the protrusion on the outer ring contacts the ball bearing and rotates freely until the ball bearing contacts and locks with the protrusion on the inner ring. In different embodiments, the position of the protrusion can be adjusted to configure the start and stop of rotation, while in other embodiments, the width of the protrusion can be configured to achieve the desired amount of rotation. Depending on the structure and position of the protrusions on the concentric rings, the achievable rotation range can vary from 0 degrees to 700 degrees. In other embodiments, the mechanical stop is configured with three concentric rings and two bearing balls, thus allowing for an even greater range of rotation.

Furthermore, in some embodiments, the main mounting base includes multiple apertures for routing cables from the pitch actuation assembly and for routing electrical communication components from the camera assembly. Additionally, the inner surface of the main mounting base 181 has machined surface apertures for mounting rotational attitude sensors and capacitors. In some embodiments, the rotational attitude sensors used are two Hall effect sensors and capacitors located within the inner surface of the main mounting base; in further embodiments, more than two Hall effect sensors and capacitors are located within the inner surface of the main mounting base. Furthermore, the interior of the main mounting base 181 has machined surfaces for mounting the pitch bearing ring of the pitch actuation assembly.

Similar to the main mounting base 181, in some embodiments, the inner surface of the main mounting cover 182 has a machined surface for housing the rotational attitude sensor and capacitor, and a corresponding machined surface for housing the pitch bearing ring from the pitch actuation assembly (Figures 35A and 35B). In these embodiments, the main mounting base 181 and the main mounting cover 182 cover each other via a main mounting strip 183. The main mounting strip 183 is manufactured to couple the main mounting base 181 and the main mounting cover 182 so that the main mounting base and the main mounting cover can be secured to each other, preventing debris and fluid ingress.

As described above, in one embodiment, the main camera body mount is configured to accommodate a pitch actuation assembly. Figures 22A to 22C are multiple views of a pitch actuation assembly according to one embodiment. The pitch actuation assembly 148 is configured to actuate and rotate the stereo camera 143 on the pitch axis, such as allowing a surgeon to obtain additional views of the surgical site. In one embodiment, the pitch actuation assembly 148 includes a pitch pulley 155, a pitch thrust bearing 156, a pitch bearing ring 154, a plurality of pitch ball bearings 157a, and a plurality of pitch ball bearings 157b.

Figures 23A to 23C show multiple views of a pitch pulley 155 according to one embodiment. In one embodiment, the pitch pulley 155 is configured to provide a surface for operation of the electrical communication components when the stereo camera 143 is actuated in the pitch direction. Furthermore, the pitch pulley 155 is configured to actuate the stereo camera 143 in the pitch direction via a cable arranged from the pitch actuation assembly 148 to the actuator 106 of the camera control assembly 101. Additionally, the pitch pulley 155 is configured to act as a stabilizer during pitch actuation of the stereo camera 143, such that the left camera assembly 149 and the right camera assembly 150 rotate in a consistent manner along the pitch axis by constraining the rotation of the two camera assemblies along the axis.

In one embodiment, the pitch pulley 155 includes a pitch pulley shaft 158 (FIG. 23C) configured to allow the electrical connection components to wind around when actuating a stereo camera. In one embodiment, the pitch pulley shaft 158 is manufactured to allow the electrical connection components to lie flat as they exit the flexible groove 159 located on the front surface of the pitch pulley 155. Furthermore, in this embodiment, the pitch pulley shaft 158 is manufactured to allow the electrical connection components to wind around the shaft and stack during winding to prevent damage to the connection components during actuation. In one embodiment, the pitch pulley shaft 158 is manufactured in a rectangle, with a wider diameter at the top and a smaller diameter at the bottom. In alternative embodiments, the pitch pulley shaft 158 can have various shapes and configurations that allow the electrical connection components to wind in a concise manner to prevent damage to the connection components. In these embodiments, the pitch pulley shaft 158 can be configured as a triangle with rounded edges, a semi-circular shape, and/or any other polygon with rounded corners.

In one embodiment, two bores are located outside the pitch pulley spindle 158, in which a calibration pin is located. In this embodiment, the calibration pin is used to align the pitch pulley 155 with the pitch thrust bearing 156. In one embodiment, the pitch pulley 155 is coupled to the pitch thrust bearing 156 by a screw connection, the screw being located in a bore on the pitch pulley spindle 158. In other embodiments, the pitch pulley 155 and the pitch thrust bearing 156 are mated and coupled using various coupling methods known in the art, including but not limited to press-fit connections, snap-fit connections, and/or adhesive connections.

Furthermore, in one embodiment, the pitch pulley 155 includes a pitch cable channel 160 for arranging cables around it. In one embodiment, an aperture is located inside the pitch cable channel 160, which passes through the central plane of the pitch pulley 155. In this embodiment, the cable is arranged around the pitch pulley 155, wherein the cable enters the aperture, passes through the other side of the pitch pulley 155, and is arranged through the main camera body 144. In this embodiment, the cable remains within the pitch cable channel 160 until it is arranged through the aperture in the pitch cable channel 160; once the cable passes through the aperture on the other side of the pulley, a set of screws secures the cable within the aperture, thereby preventing the cable from moving during actuation. In one embodiment, one end of the cable is arranged to an actuator 106 of the camera control console assembly 101, and the other end is arranged to another different actuator 106. In this embodiment, one actuator 106 is configured to move the pitch pulley 155 upward along the pitch axis, and the other actuator 106 is configured to move the pitch pulley 155 downward along the pitch axis. In other embodiments, both ends of the cable may be arranged in only one actuator 106, which is configured to actuate the pitch pulley 155 in both upward and downward directions about the pitch axis. Furthermore, in alternative embodiments, two or more cables may be used to actuate the pitch pulley 155. Additionally, in some embodiments, the pitch pulley 155 also includes a bearing surface 161, and the bearing surface is manufactured to allow a pitch ball bearing 157a to be placed therein.

As described above, in some embodiments, a pitch bearing ring 154 (FIG. 22C) is included in the pitch actuation assembly 148. The pitch bearing ring 154 is configured to have a smooth surface along which the pitch ball bearings 157a slide during actuation, and to constrain the pitch ball bearings 157a such that they remain in contact with the bearing surface of the pitch pulley and the pitch bearing ring 154. In one embodiment, to constrain the rotation of the pitch bearing ring 154 during actuation, the pitch bearing ring 154 is manufactured with two protrusions that mate and couple with grooves located inside the main camera body mount, so as to constrain the rotation of the pitch bearing ring 154 during actuation. The protrusions are manufactured to mate with the grooves located inside the main camera body mount 147, so in different embodiments, the protrusions can take any shape that allows them to be placed in and mate with the grooves received inside the main camera body mount 147. In one embodiment, the pitch bearing ring 154 is manufactured with only one protrusion, while in other embodiments, the pitch bearing ring 154 may be configured with two or more protrusions. In an alternative embodiment, the protrusions are eliminated, and the pitch bearing ring 154 is subjected to frictional constraint.

As described above, in some embodiments, a pitch thrust bearing 156 is included in the pitch actuation assembly 148. The pitch thrust bearing 156 is configured to act as a rotational bearing for the pitch of the left camera assembly 149 and the right camera assembly 150, and as a thrust bearing to compensate for the axial force acting on the robot camera assembly 103 during actuation. The pitch thrust bearing 156 rotates within the main camera body mounting 147 and engages with a pitch pulley 155. In one embodiment, the pitch thrust bearing 156 includes a bearing surface on which a pitch ball bearing 157b is located. In this embodiment, the pitch ball bearing 157b is located on the bearing surface of the pitch thrust bearing 156, and a machined bearing ring 147 is located inside the main camera body 147.

In one embodiment, the pitch thrust bearing 156 includes a plurality of apertures, two of which are used to mate and couple the pitch thrust bearing 156 to the left front camera support 162, one for aligning the pitch thrust bearing 156 with the pitch pulley 155, and one for arranging an electrical communication element through the pitch actuation assembly 148. Two apertures are used to align the left camera assembly 149 and the right camera assembly 150 to a desired attitude and orientation, and a aperture connects the left camera assembly 149 and the right camera assembly 150. In one embodiment, the pitch thrust bearing 156 includes a notch for aligning the right rear camera support 163 with the right camera assembly 150.

In other embodiments, the pitch actuator may employ different configurations. Figures 38A and 38B illustrate illustrative embodiments of the pitch actuator assembly 348. As shown in Figures 38A and 38B, in one embodiment, the pitch pulley and pitch thrust bearing are manufactured as a single unit to form the pitch actuator body 185. In this embodiment, the pitch actuator body 185 provides the same functionality for the pitch pulley and pitch thrust bearing as detailed above, while taking into account ease of assembly and improved alignment. In this embodiment, the pitch ball bearing 357b travels along the surface of the pitch bearing ring 354b and the pitch actuator body 185, rather than the bearing surface of the main camera body mount. Furthermore, in this embodiment, the pitch actuator assembly 348 includes a pitch assembly ring 186, which acts as a housing for retaining the pitch ball bearing 357b and the pitch bearing ring 354b. Furthermore, in this embodiment, the pitch ball bearing 357a travels along the surfaces of the pitch bearing ring 354a and the pitch actuation body 185. Additionally, this embodiment includes an additional pitch assembly ring 186 that acts as a housing, retaining the pitch ball bearing 357a and the pitch bearing ring 354a. Furthermore, in this embodiment, the pitch magnet 380 is located within the pitch actuation assembly 348, as shown in FIG38A.

In alternative embodiments, the pitch actuator assembly is manufactured to be directly driven by an actuator. In these embodiments, the actuator replaces the cable pulley system described in detail above. Different types of actuators, including but not limited to piezoelectric motors, linear actuators, rotary motors (such as servo motors or stepper motors), or other actuators known in the art, can be used in different embodiments. In these embodiments, the actuator provides rotational motion about the pitch axis to the stereo camera.

In alternative embodiments, the pitch actuation of the stereo camera is achieved by rotating the camera support tube about a pitch axis located near its proximal end. In these embodiments, an actuator can be attached to the proximal end of the camera support tube for rotating the support tube about the pitch axis. Different types of actuators can be used in various embodiments, including but not limited to piezoelectric motors, linear actuators, rotary motors (such as servo motors or stepper motors), and/or other actuators known in the art capable of providing rotational motion. Additionally, in some embodiments, the camera support tube is rotated manually about the pitch axis.

In a further embodiment, the camera support tube is equipped with an actuator located at the distal end of the support tube, which rotates the camera body about a pitch axis. In these embodiments, the pitch actuation assembly of the stereo camera can be omitted or used in conjunction with the actuation method described above. In different embodiments, different types of actuators can be used, including but not limited to piezoelectric motors, linear actuators, rotary motors (such as servo motors or stepper motors), and/or other actuators known in the art capable of providing rotational motion.

As previously described, in one embodiment, the main camera body mount 147 is coupled to the main camera body 144 via a main mount insert 153. In one embodiment, the main mount insert 153 is configured to connect the main camera body mount 147 and the yaw actuator assembly 151. In one embodiment, the main mount insert 153 includes a aperture with rounded corners on its lower surface, which allows a cable to move on the surface without damage. Furthermore, in some embodiments, the lower surface of the main mount insert 153 is machined into a curved surface that mates with a drilled hole in the main camera body mount 147, so that the main mount insert 153 is flush with the main camera body mount 147. Additionally, in some embodiments, the main mount insert 153 includes a valve stem that mates with and is located in a slot in the yaw actuator assembly 151. In these embodiments, the valve stem of the main mount insert 153 is configured to pass through the main camera body mount 147 and mate with the yaw actuator assembly 151.

Figures 26A and 26B show multiple views of a yaw actuator assembly 151 according to one embodiment. The yaw actuator assembly is configured to provide yaw rotational motion about a yaw axis for the stereo camera 143 or the stereo camera assembly. The yaw actuator assembly provides additional degrees of freedom to the stereo camera 143, thereby enabling the surgeon to obtain a wider field of view of the surgical site. In one embodiment, the yaw actuator assembly 151 is manufactured to include a yaw magnet 164, a yaw pulley 165, a yaw pulley block 166, and two sets of yaw ball bearings 174a and 174b, all components coupled and mating together to form the yaw actuator assembly 151.

Figures 28A to 28C are multiple views of a yaw pulley according to one embodiment. In one embodiment, the yaw pulley 165 is configured in the shape of a flanged cylinder, including an aperture with rounded corners passing through the center of the cylinder to allow a cable to pass through without damaging it. Furthermore, in one embodiment, the yaw pulley 165 includes a yaw cable surface 167 along which the cable is arranged.

In one embodiment, perpendicular to the yaw cable surface 167 is an opening for the cable to pass through it (FIG. 28B). In this embodiment, one end of the cable is arranged around the yaw cable surface 167 in a first direction, while the other end of the cable is arranged around the yaw cable surface 167 in a second direction opposite to the first direction. In this embodiment, once both ends of the cable have been arranged around the yaw cable surface 167 in their respective directions, each end of the cable is arranged to one of the actuators 106 of the camera control console assembly 101, and each end is arranged to an independent actuator 106. In this embodiment, one actuator 106 is used to rotate the stereo camera 143 to the first yaw direction, and another actuator 106 is used to rotate the stereo camera 143 to the second yaw direction. In an alternative embodiment, both ends of the cable may be arranged to only one actuator 106, which is configured to rotate the stereo camera 143 in the first yaw direction and the second yaw direction.

In one embodiment, a horseshoe-shaped connecting boss 168 is located below the yaw cable surface 167 of the yaw pulley 165. In this embodiment, the connecting boss 168 is configured to mate with the yaw pulley block 166 only in one direction. In different embodiments, the connecting boss 168 is machined into various shapes, including but not limited to hexagons and/or any polygon, so that it mates with the yaw pulley block 166 only in one direction. In an alternative embodiment, two connecting bosses 168 are used to connect the yaw pulley 165 and the yaw pulley block 166. Furthermore, in other embodiments, various connections known in the art are used to connect the yaw pulley 165 and the yaw pulley block 166, including but not limited to pin-and-groove connections, screw connections, and/or snap-fit connections. Additionally, in some embodiments, the connecting boss 168 is located on the yaw pulley block, rather than on the yaw pulley itself.

As described above, in some embodiments, the yaw pulley block 166 is coupled to the connecting boss 168 of the yaw pulley 165. Figures 29A to 29C show several views of the yaw pulley block 166 according to one embodiment. In one embodiment, the yaw pulley block 166 is configured to have an upper surface containing a connecting pocket 169, which is configured to allow the connecting boss 168 of the yaw pulley 165 to enter and couple thereto, thereby connecting the yaw pulley 165 and the yaw pulley block 166.

Furthermore, in some embodiments, the connecting bag 169 contains the space where the yaw magnet 164 resides. In these embodiments, the yaw magnet 164 is sandwiched between the yaw pulley 165 and the yaw pulley block 166. In one embodiment, the yaw magnet 164 is configured as a ring magnet. In this embodiment, the yaw magnet 164 is fully magnetized so that the magnetic field changes as the yaw magnet 164 rotates about its cylindrical axis. In this embodiment, the change in magnetic field is measured by a rotational attitude sensor, which transmits data to a processor, which converts the change in magnetic field into rotational attitude data. This conversion is accomplished using knowledge of the physical structure of the magnets and sensors. In this embodiment, several rotational attitude sensors are placed vertically around magnets orthogonally magnetized to each other. As the magnetized magnets rotate, the magnetic field they generate also changes relative to the rotational attitude sensors. Using a simple trigonometric method, the direction of the magnetic field can be determined by comparing the relative magnetic field strength between the sensors in a combination of two orthogonally placed sensors. This calculation yields the direction of the orthogonally magnetized magnets, and thus the direction of the stereo camera. In this implementation, additional rotational attitude sensors are placed for redundancy, but the total number of sensors required for absolute orientation calculation will depend on the choice and configuration of the magnet and sensors.

Using rotational data obtained from the sensors, the system can accurately determine how far the stereo camera 143 has rotated along the yaw axis, thereby obtaining the rotational attitude of the stereo camera 143 during actuation. In other embodiments, the yaw magnet 164 is configured as a horseshoe magnet, a disk magnet, a spherical magnet, a cylindrical magnet, and/or any other magnet shape known in the art. Furthermore, in different embodiments, a variety of known rotational attitude sensors with magnetic field sensing capabilities can be used, including but not limited to Hall effect sensors and/or magnetoresistive devices.

In some embodiments, the electrical connection assembly cavity 145 of the main camera body 144 includes a machined surface aperture within which a sensor and capacitor are located to acquire rotational attitude data of the stereo camera 143 about its yaw axis. Similarly, the electrical connection assembly cavity 345 is equipped with a rotational attitude sensor 209 and a capacitor for acquiring rotational attitude data of the stereo camera assembly (FIG. 34C). In other embodiments, the electrical connection assembly cavity includes a separate package for housing the rotational attitude sensor and capacitor. As described above, the rotational attitude data of the stereo camera, and more specifically, the rotational attitude data of the camera assembly about its yaw axis, is acquired using sensors and capacitors. In other embodiments, the sensor for determining the rotational attitude of the camera assembly is located outside the electrical connection assembly cavity, while in a further embodiment, the sensor is located on the body buckling cover or the main camera body.

In some embodiments, the lower surface of the yaw pulley block 166 includes a protrusion 171. In some embodiments, the protrusion 171 includes a slot for an electrical communication component, the slot being used to arrange the electrical communication component through the slot and around the protrusion 171 during actuation. In some embodiments, the protrusion 171 is configured to be circular to allow the electrical communication component to wrap around the protrusion during actuation. In other embodiments, the protrusion 171 may present a variety of shapes that allow the electrical communication component to wrap around it during actuation, including but not limited to elliptical, spherical, and/or cylindrical shapes.

In some embodiments, the protrusion 171 includes a pitch cable aperture 170 configured to allow a cable from the pitch actuator assembly 148 to be routed through the yaw actuator assembly 151 and up to the actuator 106 of the camera control console assembly 101. Additionally, in some embodiments, the protrusion 171 includes an alignment pocket and a main mounting insert pocket 172. In these embodiments, the alignment pocket is configured to allow an alignment pin from the main camera body mount 147 to enter the alignment pocket to align the yaw pulley block 166 with the main camera body mount 147. The main mounting insert pocket 172 is configured to allow the valve stem of the main mounting insert 153 to enter and couple the yaw pulley block 166 to the main camera body mount 147. In one embodiment, a retaining screw aperture is located on the side of the protrusion 171. In this embodiment, a retaining screw is inserted into a retaining screw hole and couples the main mounting insert 153 into the main mounting insert pouch 172, thereby securing the main camera body mounting base 147 to the yaw actuator assembly 151. In other embodiments, the main mounting insert 153 is attached to the main mounting insert pouch 172 using various connection and coupling methods and/or techniques known in the art, including but not limited to press-fit connections, snap-fit connections, and/or adhesive connections.

Furthermore, in some embodiments, a yaw bearing surface 173 is positioned about the upper surface of the yaw pulley block 166. In these embodiments, the yaw bearing surface 173 is configured to allow a set of yaw ball bearings 174a to be located within the bearing ring. In these embodiments, the yaw actuation assembly 151 rotates within the main camera body 144 and the body buckling cover 146. In these embodiments, the body buckling cover 146 includes a bearing surface into which a set of yaw ball bearings 174a are placed and rolled, and the main camera body 144 includes another bearing surface into which another set of yaw ball bearings 174b are placed and rolled. In these embodiments, the yaw bearing surface 173 of the yaw pulley block 166 engages with a set of yaw ball bearings 174a and travels along the bearing surface of the main camera body 144, while the other set of yaw ball bearings 174b travels along the bearing surfaces of the main camera body mount 147 and the body buckling cover 146. This configuration allows the stereo camera 143 to rotate around the yaw axis.

As shown in Figure 37, in one embodiment, the yaw actuation assembly 351 includes a yaw bearing ring 184 along which a yaw ball bearing 374a travels. In this embodiment, the yaw ball bearing 374a travels along the yaw bearing ring 184 and along a bearing surface on the yaw pulley block 366. Furthermore, in this embodiment, the yaw ball bearing 374b (Figure 36) travels along a bearing ring located on the main body buckling cover and on the main mounting base 181 located on the main camera body mounting base 347. As shown in Figure 37, the yaw actuation assembly 351 includes a yaw pulley 365, a yaw magnet 364, a yaw pulley block 366, a yaw ball bearing 374a, and a yaw bearing ring 184. In this embodiment, the yaw pulley 365, the yaw magnet 364, and the yaw pulley block 366 provide the same functionality as in the embodiments described above.

In alternative embodiments, the yaw actuator assembly is manufactured to be directly driven by the actuator. In these embodiments, the actuator replaces the cable pulley system described in detail above. Different types of actuators, including but not limited to piezoelectric motors, linear actuators, rotary motors (such as servo motors or stepper motors), or other actuators known in the art, can be used in different embodiments. In these embodiments, the actuator provides rotational motion about the yaw axis to the stereo camera.

As described above, in some embodiments, the stereo camera assembly is configured to have two camera assemblies, each having an optical axis. In some embodiments, the camera assemblies are manufactured to have identical components, while in other embodiments, the camera assemblies are manufactured to include different components. In alternative embodiments, the camera assemblies are manufactured to include different variations of the same components. As shown in Figures 21A and 21B, in some embodiments, the stereo camera assembly 143 is manufactured to include a left camera assembly 149 and a right camera assembly 150.

In one embodiment, the left camera assembly 149 includes a front left camera support 162, a rear left camera support 175, a camera housing 176, a camera connector (not shown), and a camera module 177a (Figures 21A-21B). The front left camera support 162 is configured to house and constrain the camera module 177a of the left camera assembly 149. In some embodiments, the front left camera support 162 is configured to hold a pitch magnet 180. In this embodiment, the pitch magnet 180 is fully magnetized, so that the magnetic field changes as the pitch magnet 180 rotates about its cylindrical axis. In this embodiment, the change in magnetic field is measured by a rotational attitude sensor, which transmits data to a processor, which converts the change in magnetic field into rotational attitude data. Using the rotational attitude data obtained from the sensor, the system can accurately determine how far the stereo camera 143 has rotated on the pitch axis, thereby obtaining the rotational attitude of the stereo camera 143 about the pitch axis during actuation.

In one embodiment, the left front camera support 162 includes an alignment protrusion that mates with and couples to an opening on the pitch actuation assembly 148, thereby attaching the left front camera support 162 to the pitch actuation assembly 148. Furthermore, in one embodiment, the left front camera support 162 includes alignment pin holes for aligning and coupling the left front camera support 162 with the left rear camera support 175. Additionally, in one embodiment, the left front camera support 162 includes a threaded hole for connecting the pitch pulley 155, and another threaded hole for connecting the end cap 178. In this embodiment, the end cap is configured to facilitate insertion of the stereo camera 143. In one embodiment, the end cap 178 has a rounded edge, so that the end cap can be inserted through the cannula assembly 102 without puncturing the seal of the cannula assembly.

In one embodiment, the left front camera support 162 includes a recess for the camera connector (not shown) of the left camera assembly 149. In one embodiment, the camera connector of the left camera assembly 149 is configured as a thirty-pin connector that connects the camera module 177a of the left camera assembly 149 to an electrical communication assembly running to a camera rigid plate. The camera connector allows video input obtained by the camera module 177a of the left camera assembly 149 to be transmitted to the camera rigid plate, where the rigid plate processes the video input and transmits it to an external processor that outputs the video input to an external monitor or head-mounted display worn by the surgeon, allowing the surgeon to view the surgical site.

As described above, the left front camera support 162 is configured to constrain and house the camera module 177a of the left camera assembly. The camera module is used to provide real-time video input to the surgical site to the surgeon. In some embodiments, the camera module 177a is manufactured with a lens stack, an infrared filter, a module body, and a digital sensor board with digital sensors. In some embodiments, commercially available camera modules, such as Raspberry Pi camera modules, e-con camera modules, and/or similar camera modules, are used, while in other embodiments, a custom-designed camera module may be used to provide real-time video input.

In one embodiment, the module body of the camera module is manufactured with an outer edge and an inner edge, the outer edge being closer to the end cap of the camera assembly. Furthermore, in one embodiment, the module body of the camera module is manufactured to allow the digital sensor of the camera module to be displaced, thereby causing a horizontal displacement of the center of the lens stack of the camera module. This horizontal displacement of the digital sensor from the center of the lens group allows for a greater overlap between the image obtained from camera module 177a of the left camera assembly 149 and the image obtained from camera module 177b of the right camera assembly 150, thus providing the surgeon with a wider stereoscopic field of view. With this wider stereoscopic field of view, the parallax between the images obtained from camera module 177a of the left camera assembly 149 and camera module 177b of the right camera assembly 150 is limited, thereby reducing the amount of eye strain experienced by the surgeon.

As described above, in some embodiments, the camera module 177a of the left camera assembly 149 is constrained by a front left camera support 162 and a rear left camera support 175. In these embodiments, the rear left camera support 175 is configured to support the rear of the camera module 177a of the left camera assembly 149, providing a surface thereon for the rear of the camera module, and also providing a surface thereto for coupling to the front left camera support 162. In one embodiment, the rear of the rear left camera support 175 is configured as a circular surface, allowing the support to be housed within a camera housing 176a. In one embodiment, the rear left camera support 175 includes a slot for arranging an electrical communication component through which the component is arranged via the main camera body mount 147 and reaches the camera rigid plate 115 of the camera control console assembly 101. In one embodiment, the rear left camera support 175 includes a plurality of through holes configured to allow fixing screws to pass through and adjust the alignment of the camera module 177a. Furthermore, in some embodiments, the left rear camera support 175 includes a plurality of connection holes for coupling and engaging the left rear camera support 175 with the left front camera support 162 and for attaching the end cap 178a.

As described above, in some embodiments, the left rear camera support 175 is configured to be housed within the camera housing 176a of the left camera assembly 149. The camera housing 176a of the left camera assembly 149 is configured to house the camera module 177a of the left camera assembly 149, the left front camera support 162, the left rear camera support 175, the camera connector of the left camera assembly 149, and electrical communication components from the camera module 177a of the left camera assembly 149. The camera housing 176a of the left camera assembly 149 is manufactured to prevent fluids and other substances from entering the left camera assembly 149. The camera housing 176a of the left camera assembly 149 is configured to slide over the aforementioned reference component and is constrained at one end by the end cap 178a of the left camera assembly 149 and at the other end by the main camera body mounting base 147. In one embodiment, the end cap 178a of the left camera assembly 149 is configured as two mating components. In various embodiments, different connection methods and techniques known in the art are used to couple the end cap 178a of the left camera assembly 149 to the camera housing 176a of the left camera assembly 149, and to couple the housing to the main camera body mounting base 147. These methods include, but are not limited to, screw connections, adhesive connections, and/or press-fit connections. Furthermore, the camera housing 176a of the left camera assembly 149 includes an aperture that allows the camera module 177 of the left camera assembly 149 to have a clear view of the surgical site.

As described above, the stereo camera or stereo camera assembly 143 also includes a right camera assembly 150 (FIG. 19B). In one embodiment, the right camera assembly 150 includes a right front camera support 179, a right rear camera support 163, a camera module 177b, a camera connector (not shown), and a camera housing 176b.

In one embodiment, the right front camera support 179 is configured to support and house the camera module 177b of the right camera assembly 150, similar to how the left front camera support 162 houses and supports the camera module 177a of the left camera assembly 149. In one embodiment, the right front camera support 179 is directly coupled to a pitch thrust bearing 156 located within the main camera body mounting base 147. Furthermore, in one embodiment, the right front camera support 179 mates and couples with the right rear camera support 163 in the same manner as described above for the mating and coupling of the left front camera support 162 and the left rear camera support 175. In one embodiment, the right rear camera support 163 includes a protrusion configured to reside within a groove in the pitch thrust bearing 156, thereby mates the right camera assembly 150 with the pitch actuation assembly 148.

Furthermore, similar to camera module 177a of the left camera assembly 149, camera module 177b of the right camera assembly 150 is configured to provide real-time video input of the surgical site to the surgeon. As detailed above, camera module 177a of the left camera assembly 149 and camera module 177b of the right camera assembly 150 consist of a lens stack, an infrared filter, a module body, and a digital sensor. Similarly, in some embodiments, commercially available camera modules such as Raspberry Pi camera modules, e-con camera modules, and/or similar camera modules are used, while in other embodiments, custom-designed camera modules may be used to provide real-time video input.

Furthermore, in some embodiments, the module body of the camera module 177b of the right camera assembly 150 is manufactured with an outer edge and an inner edge, the outer edge being closer to the end cap of the camera assembly. Additionally, in some embodiments, the module body 177b of the right camera assembly 150 is manufactured to allow displacement of the digital sensor of the camera module 177b, causing a horizontal displacement of the lens stack center of the camera module. This horizontal displacement of the digital sensor of the camera module 177b from the lens group center of the camera module allows for a larger overlap area between the image obtained by the camera module 177b of the right camera assembly 150 and the image obtained by the camera module 177b of the left camera assembly 150, thereby providing the surgeon with a wider stereoscopic field of view. In these embodiments, the digital sensor of the camera module 177a of the left camera assembly 149 is moved to the left, and the digital sensor of the camera module 177b included in the right camera assembly 150 is moved to the right.

As described above, the right camera assembly 150 includes a camera connector (not shown). The camera connector of the right camera assembly 150 is similar to that of the left camera assembly 149 because the camera connector of the right camera assembly 150 is located within a recess in the right front camera support 179. Similarly, in one embodiment, the camera connector of the right camera assembly 150 is configured as a thirty-pin connector that connects the camera module 177b of the left camera assembly 150 to an electrical communication assembly running to the camera rigid plate 115. The camera connector of the right camera assembly 150 allows video input obtained by the camera module 177b of the right camera assembly 150 to be transmitted to the camera rigid plate 115, where the rigid plate 115 processes the video input and transmits it to an external processor that outputs the video input to an external monitor or head-mounted display worn by the surgeon, allowing the surgeon to view the surgical site.

Furthermore, the camera housing 176b of the right camera assembly 150 is similar to the camera housing 176a of the left camera assembly 149. In this case, the camera housing 176b is configured to house the camera module 177b of the right camera assembly 150, the right front camera support 179, the left rear camera support 163, the camera connector of the right camera assembly 150, and the electrical communication components from the camera module 177b of the right camera assembly 150. The camera housing 176b is manufactured to prevent fluids and other substances from entering the right camera assembly 150. Additionally, the camera housing 176b is configured to slide over the aforementioned reference component and is constrained at one end by the end cap 178b of the right camera assembly 150 and at the other end by the main camera body mounting base 147. In one embodiment, the end cap 178b is configured as two joined components. In various embodiments, different connection methods and techniques known in the art are used to attach the end cap 178b to the camera housing 176b and to couple the housing to the main camera body mounting base 147. Such methods include, but are not limited to, screw connections, adhesive connections, and/or press-fit connections. Furthermore, the camera housing 176b includes apertures that allow the camera module 177b of the right camera assembly 150 to have a clear view of the surgical site.

As described above, in some embodiments, the left camera assembly and the right camera assembly contain the same components and are therefore identical. Figures 39A and 39B illustrate illustrative embodiments of camera assembly 187. As shown in Figure 39A, in one embodiment, camera assembly 187 includes camera module assembly 190, electrical connection component holder 189, flexible mandrel 188, camera housing 376, and end cap 378. In this embodiment, camera module assembly 190 includes camera module body 195, lens stack 192, infrared filter 193, digital sensor board 191, and camera window 194 (Figure 39A). In this embodiment, the components of camera module assembly 190 are coupled together to form a single unit. In some embodiments, a biocompatible adhesive is used to couple all components of camera module assembly 190, while in other embodiments, different coupling methods known in the art are used. As shown in Figure 39A, in some embodiments, camera module assembly 190 includes camera window 194. In these embodiments, camera window 194 protects the lens stack 192 of camera assembly 187. In some embodiments, the camera window 194 is made of sapphire glass, while in other embodiments, other types of glass and/or plastic windows known in the art are used. In further embodiments, other transparent biocompatible materials known in the art that can protect the lens stack 192 are used. Furthermore, in this embodiment, both sides of the camera module body 195 include alignment protrusions to align and engage the camera module assembly 190 with the pitch actuation assembly, and to align and engage the camera module assembly 190 with the electrical connectivity component retainer 189, and to ensure that the left and right camera assemblies are aligned.

As described in one embodiment, the camera assembly 187 includes an electrical connection component retainer 189. The electrical connection component retainer 189 is used to accommodate electrical connections coupled to the digital sensor board 191, preventing damage to the connections during actuation of the camera assembly 187. In this embodiment, the camera module assembly 190 is coupled to a pitch actuation assembly, and the camera module body 195 secures the electrical connection component retainer 189 within the camera housing 376. In some embodiments, the camera assembly 187 includes a flexible mandrel 188. In these embodiments, the flexible mandrel 188 is used to wind and arrange the electrical connections coupled to the camera module assembly 190. The flexible mandrel 188 is configured within the space of the electrical connection component retainer 189, which is configured to be housed within the camera housing 376 and mate with an end cap 378 within the camera housing 376 to seal the camera assembly 187.

In various embodiments, the components of the stereo camera and camera assembly are configured to provide a user experience tailored to a specific user, allowing the user to view stereoscopic images in a head-mounted display in a natural and comfortable manner. In some embodiments, the interaxial distance between the camera assemblies is modified to adjust the perceived depth of the surgical site by the user. In some embodiments, the digital sensor or digital sensor board of the camera module is shifted relative to the lens stack to provide a wider stereoscopic field of view. Furthermore, in some embodiments, the focal length of the camera assembly is adjusted by adjusting the focal length of the camera module.

As described above, the interaxial distance between camera assemblies can be modified to adjust the depth of the user's perceived operating position. A larger interaxial distance increases the perceived depth, while a smaller interaxial distance decreases the perceived depth of the surgical site. As the interaxial distance increases, the amount of image overlap obtained by the camera assembly decreases. At distances close to the camera assembly, the overlap in the image may be absent or insufficient for stereoscopic observation.

Figure 43 shows an isometric view of a stereo camera assembly in an insertion configuration according to one embodiment. As shown in Figure 43, in some embodiments, during insertion of the stereo camera assembly, the camera assembly is configured such that the optical axes 215a and 215b of the camera module are oriented perpendicular to the camera support tube. In these embodiments, the stereo camera assembly includes two camera assemblies: a first camera assembly having a first camera module and a second camera assembly having a second camera module. In these embodiments, the first camera module has camera module bodies with outer and inner edges, and optical components such as infrared filters, digital sensor boards, lens stacks, and camera windows. Similarly, the second camera module has camera module bodies with outer and inner edges, and optical components such as infrared filters, digital sensor boards, lens stacks, and camera windows. In these embodiments, the maximum distance from the outer edge of the first camera module body to the outer edge of the second camera module body is configured to be greater than the maximum width of the cross-section of the stereo camera assembly perpendicular to the insertion axis. Figure 40 shows a cross-section of an embodiment of the stereo camera assembly 343, highlighting the maximum width of section 207 of the stereo camera assembly 343, with the first camera assembly 187b and the second camera assembly 187a oriented perpendicular to axis 206 of the camera support tube. Figure 41 shows the maximum distance 208 from the outer edge of the first camera module body 195b to the outer edge of the second camera module body 195a according to one embodiment. This configuration allows for an increased interaxial distance between the first and second camera modules. With an increased interaxial distance between the camera modules, the stereo camera assembly provides enhanced parallax visualization, allowing the user to gain a deeper perception of the surgical site. In some embodiments, the interaxial distance is chosen to maintain a natural and human-like system, such that the length of a human arm divided by the distance between human pupils is approximately equal to the length of a robotic arm (or tool, instrument, or device) divided by the distance between the stereo camera modules. In alternative embodiments, the interaxial distance between the camera modules is configured to be less than the maximum cross-sectional measurement of the inserted robotic device, tool, or instrument.

Furthermore, as detailed above, the digital sensors or digital sensor boards of the camera modules or camera module assemblies can be displaced to increase the stereoscopic field of view. Similar to the methods detailed above for the left camera assembly 149 and the right camera assembly 150, in one embodiment, the digital sensor board 191 of the camera module assembly 190 can be displaced horizontally from the center of the lens stack 192. In this embodiment, the horizontal displacement of the digital sensor board 191 allows for a larger overlap area between images obtained from one camera assembly 187 and images obtained from another camera assembly, thereby providing a wider stereoscopic field of view for the surgeon or user. In these embodiments, the digital sensor board of the left-side camera assembly moves to the left, and the digital sensor board of the right-side camera assembly moves to the right. When the displacement distance of the digital sensor board in each camera assembly is sufficiently large, a zero parallax plane (ZDP) is achieved, on which the two images forming the camera assemblies completely overlap. Therefore, by adjusting the interaxial distance between the camera assemblies and displacing the digital sensor boards of the camera assemblies, the obtained stereoscopic view can be maximized.

Furthermore, as previously described, the focal length of the camera assembly can be adjusted to focus the camera module or module assembly. The focal length is adjusted by moving the lens stack of the camera assembly toward or away from the digital sensor or digital sensor board. In some embodiments, the lens stack has a threaded exterior that, according to the implementation, screws into a threaded hole in the housing of the camera module body 195 or camera module 177. In these embodiments, the focal length is adjusted by screwing the lens group closer to or further away from the digital sensor or digital sensor board of the camera assembly. Adjusting the focal length focuses the area seen by the surgeon or user, thereby providing a clear image of the surgical site. In some embodiments, the lens group is adjusted manually, while in others, the focal length is electrically adjusted using a small actuator (such as a linear actuator, a rotary actuator, and/or any other small actuator known in the art).

In some embodiments, the camera assembly is equipped with lights to illuminate the surgical site and help increase visibility for the surgeon or user. In one embodiment, the end cap of the camera assembly is fitted with a set of light-emitting diodes (LEDs). The LEDs are powered from outside the patient's body via wires arranged through the camera assembly, wherein the wires are coupled to a power source. Heat emitted by the LEDs is dissipated within the main camera body. In some embodiments, a small amount of sterile saline or other biocompatible liquid flows through the main camera body to cool it, while in other embodiments, a biocompatible liquid or gas is forced through the camera body for cooling purposes. In these embodiments, the biocompatible liquid or gas flows through the main camera body via cooling lines arranged from outside the patient's body and through the camera assembly. The cooling lines are coupled to a liquid or gas source (depending on the embodiment) and a pump that pumps the liquid or gas through the cooling lines. In some embodiments, the liquid or gas is continuously pumped and circulated through the cooling lines, while in other embodiments, the liquid or gas may be pumped into the lines once or at intervals. In other embodiments, the main camera body is equipped with a temperature sensor to ensure that the camera assembly remains within a safe temperature range. In alternative embodiments, light-emitting diodes (LEDs) are located on the camera support tube and/or the main camera body mounting base. In a further embodiment, optical fibers are used instead of LEDs to illuminate the surgical site.

In some embodiments, the camera assembly is equipped with a lens scraper for wiping, brushing, and/or removing any material or debris located on the lens of the camera assembly. In one embodiment, two lens scrapers are attached to the main camera body, one scraper for each camera assembly. During use, the lens scrapers are configured to extend distally from the main camera body to the camera assembly. In this embodiment, the lens scrapers are attached to the main camera body via hinge connections known in the art, allowing the scrapers to swing left and right on the lens of the camera assembly during use. In other embodiments, the lens scrapers are rigidly attached to the main camera body and actuate the stereo camera, causing the lens of the camera assembly to move through the lens scraper to remove and wipe away any debris or material. In an alternative embodiment, the lens scrapers are directly attached to the camera assembly.

In alternative embodiments, the lens wiper is manufactured to move vertically from the main camera body toward the camera assembly. In these embodiments, the lens wiper is configured to be foldable. The lens wiper extends and extends from the main camera body toward the lens of the camera assembly, contacting the lens of the camera assembly and wiping away debris or material on the camera assembly as the lens wiper moves vertically. In some embodiments, the lens wiper is made of soft biocompatible rubber known in the art, while in other embodiments, the lens wiper is made of other biocompatible materials known in the art, such as soft biocompatible ceramics.

In a further embodiment, the camera assembly is equipped with a rinsing system for spraying water or other solutions or liquids to help remove debris and material from the camera assembly and to prevent the lens of the camera assembly from becoming smudged during debris or material removal. In these embodiments, the camera assembly is equipped with a fluid line extending from outside the patient's body through the camera assembly. The fluid line is coupled to a fluid source and a pump that pumps fluid through the fluid line into a sprayer located on the main camera body. In this embodiment, the sprayer is positioned to spray liquid downwards onto the lens of the camera assembly. In some embodiments, the pressure of the sprayed liquid is controlled by a surgeon or user, while in other embodiments, the liquid is set to spray at a fixed rate. In some embodiments, the camera assembly includes a rinsing system and a lens scraper. In these embodiments, the rinsing system and the lens scraper work together to remove any debris or material from the camera assembly.

In some embodiments, the camera assembly is equipped with a peripheral camera to provide the surgeon or user with real-time images of the surgical site during insertion and removal of the camera assembly. In one embodiment, the end cap of the camera assembly includes a peripheral camera to capture real-time images during insertion and removal. When the camera assembly is inserted, the peripheral camera provides the surgeon with an image of the surgical site. In these embodiments, the peripheral camera is oriented forward relative to the insertion point, so that the camera faces the insertion direction to provide an image of the surgical site during the insertion of the stereo camera. Using the images captured by the peripheral camera, the surgeon can determine whether there are any unforeseen circumstances at the surgical site and whether the insertion angle or insertion point needs to be modified.

As described above, in some embodiments, the end caps of the two camera assemblies include peripheral cameras. In these embodiments, one peripheral camera is used to capture images of the surgical site when the stereo camera is inserted, while the second peripheral camera is used to capture images of the inserted robotic device, tool, and/or instrument. The second peripheral camera allows the surgeon or user to monitor the tool, robotic device, or instrument inserted through the cannula assembly. Using images from the second peripheral camera, the surgeon or user can modify the insertion angle or position of the inserted device or instrument. Furthermore, the peripheral cameras are used to capture additional images of the surgical site during surgery. Images from the peripheral cameras during surgery provide the surgeon or user with images that the stereo camera could not capture without adjusting the stereo camera's orientation and/or posture.

In alternative embodiments, only one camera assembly end cap contains the peripheral camera, while in future embodiments, the end cap may contain multiple peripheral cameras. In some embodiments, the peripheral camera consists of commercially known camera modules, such as Raspberry Pi camera modules, e-con camera modules, and/or other similar camera modules known in the art. In other embodiments, the peripheral camera may include a custom camera module.

insert

As previously described, the robotic camera system is configured to acquire multiple views of the surgical site during surgery, and the camera assembly is inserted into the patient's body. In one embodiment, to insert the camera assembly, a cannula assembly is first inserted into the patient's body. In this embodiment, a standard obturator known in the art is used to insert the cannula assembly into the patient's body. In this embodiment, the obturator pierces the patient's abdominal wall, creating an opening wide enough to allow the cannula to be inserted into the patient's abdomen. When the cannula is inserted, the winged ring is flush with the outer wall of the patient's abdomen, and the proximal end of the cannula assembly is outside the patient's body. The winged ring is then secured to the patient's body via surgical sutures. In one embodiment, two surgical sutures are used to secure the winged ring to the patient's body. In this embodiment, one end of each surgical suture is secured to a screw on the winged ring, and the other end of each surgical suture is inserted into the patient's body, thereby securing the cannula assembly to the patient's body. When the cannula is secured to the patient's body, the patient's abdominal cavity expands, thereby enlarging the patient's abdominal cavity and creating space for camera insertion. In other embodiments, a standard trocar, known in the art and currently available on the market, is inserted into the patient to inject gas into the patient's abdominal cavity, and then the trocar assembly is inserted into the patient.

After injection into the patient's abdominal cavity, the sheath of the expandable seal is inflated by a pump and/or a compressor coupled to an air port. Once the sheath is inflated, the camera assembly is inserted into the patient's abdominal cavity through the cannula assembly. In one embodiment, before insertion of the camera assembly, the stereo camera assembly is oriented such that the end cap of the left camera assembly passes first through the cannula assembly and into the patient's abdominal cavity. In an alternative embodiment, the stereo camera is oriented such that the end cap of the right camera assembly passes first through the cannula assembly and into the patient's abdominal cavity. Alternatively, in an embodiment, the stereo camera includes a peripheral camera, the end of which can be inserted first.

Once the camera assembly is inserted into the patient's abdominal cavity, the cannula of the camera console assembly, coupled with a clamp, couples with the cannula, thereby securing the camera console assembly and the cannula assembly. This connection is used to stabilize the system, ensuring that the camera assembly remains aligned with the cannula assembly during actuation, allowing other devices to enter the patient's abdominal cavity through the cannula assembly. In an alternative embodiment, the camera console assembly and the cannula assembly are not coupled to each other, allowing both the camera console assembly and the camera assembly to be rotated during insertion into the patient, and allowing the camera assembly to be further pushed into the patient's abdominal cavity and/or pulled out toward the cannula. Figure 43 illustrates an illustrative embodiment of the stereo camera 343 in an insertion configuration. As shown in Figure 43, in some embodiments, the first optical axis 215b and the second optical axis 215a of the camera module are oriented perpendicular to the camera support tube 124. The stereo camera can be actuated after the camera assembly is inserted into the patient's abdominal cavity. Figure 44 shows an isometric view of the stereo camera assembly 343 in an unfolded configuration according to one embodiment. As shown in the embodiment illustrated in FIG44, when the stereo camera 343 is in the unfolded configuration, the first optical axis 215b and the second optical axis 215a move based on the rotation of the stereo camera.

Once the stereoscopic camera is inserted into the patient's abdominal cavity, tools, devices, and/or instruments can be inserted through the cannula assembly. In one embodiment, the device, tool, or instrument enters a sealing plug before being inserted through the cannula assembly. The sealing plug serves as a passageway for the tool, device, or instrument into the patient's abdominal cavity, allowing it to pass through a sealing assembly while maintaining a seal to prevent any carbon dioxide escape or leakage. In one embodiment, the sealing plug is configured to have a hollow center for placing the device, tool, or other object therein. The device, tool, or other object is inserted into the sealing plug before insertion of the cannula assembly. During operation, the sealing plug is positioned such that the distal portion of the instrument is outside the plug, while the proximal portion is inside the plug. As the sealing plug is introduced into the cannula assembly, it passes through a sealing sub-assembly, with the proximal portion of the sealing plug located outside the sealing sub-assembly. The sealing plug is manufactured to fill all open spaces within the cannula such that the seal of the sealing sub-assembly surrounds the portion of the sealing plug contained within the sealing sub-assembly, thereby forming a seal. The sealing plug remains inside the cannula assembly until the instrument is ready to be removed from the surgical site.

Actuation

A stereo camera is configured to obtain multiple views of a surgical site by actuating the stereo camera to a desired pose and orientation. Figure 42 shows an illustrative embodiment of a stereo camera assembly 343 according to one embodiment, highlighting the yaw axis 210 and pitch axis 211 of the camera assembly. As shown in Figure 42, in one embodiment, the yaw axis 210 is perpendicular to the plane containing the camera support tube 124, and the pitch axis 211 is perpendicular to the yaw axis 210. As detailed above, in one embodiment, the stereo camera is configured to rotate vertically about the pitch axis 211 and horizontally about the yaw axis 210 (Figure 42). In this embodiment, cables from the pitch actuation assembly and cables from the yaw actuation assembly are arranged from the camera assembly to the actuators of the camera control console assembly. By providing actuation force on the cables originating from the pitch actuation assembly and the yaw actuation assembly, the actuators are configured to rotate the stereo camera about the pitch axis 211 and the yaw axis 210.

In one implementation, the stereoscopic camera is actuated by the movement of the surgeon's head. For example, during surgery, if the surgeon wishes to view an object above their current field of vision, they look upwards, causing the stereoscopic camera to rotate upwards about the pitch axis. In this implementation, as disclosed in International Patent Application No. PCT/US2015/029246, the surgeon wears a virtual reality head-mounted display to view the real-time camera input acquired by the stereoscopic camera. A suitable head-mounted display (HMD), such as the Oculus Rift, provides the user with a head-mounted view of the surgical site, lenses that allow the view to be focused within the display, and a sensor system that provides attitude and orientation tracking for the display. HMDs like the Oculus Rift and HTC Vive have built-in tracking and sensor systems that acquire raw orientation data for yaw, pitch, and roll, as well as attitude data in Cartesian space (x, y, z). However, alternative tracking systems can be used to provide auxiliary attitude and orientation tracking data for the display, replacing or supplementing the HMD's built-in tracking system. Attitude and orientation sensor systems may include accelerometers, gyroscopes, magnetometers, infrared tracking, computer vision, reference tracking, magnetic tracking, laser tracking, ultrasonic tracking, mechanical tracking using encoders, or any other method for tracking attitude and orientation, or any combination thereof. The aforementioned sensor tracking systems can be used to track user-worn head-mounted displays or to track the rotational attitude of stereo cameras during actuation.

In this implementation, the sensor system tracks the posture and orientation of the surgeon's head-mounted display. The sensor system transmits orientation data to a computer in real time. Posture data is unnecessary in this implementation of the camera system because it cannot be independently transformed in space; however, other implementations of the camera system may rely on posture data for additional movement or to provide supplementary data. Orientation measurements are performed relative to the HMD's built-in coordinate system. The computer interprets the raw orientation data by converting the coordinate system of the data from the HMD's built-in coordinate system to a coordinate system that matches the coordinate system defined by the camera system. In this implementation, since both the HMD's built-in coordinate system and the camera system's defined coordinate system are fixed and known, a simple constant rotation must be applied to this conversion.

The computer also ensures that no singularities are generated when enforcing the rotation sequence determined by the physical configuration of the camera actuators. To avoid natural singularities when the second rotation angle approaches 90 degrees (pi/2 radians), the algorithm begins to consider the first rotation angle more than the third rotation angle when the second rotation angle exceeds a defined singularity threshold. The computer then transmits the encoded and decoded data to a motor control board, which is operatively coupled to the actuators of the camera control console assembly.

The motor control board receives direction data from the computer and determines the required control force to drive the actuators to position the camera system in the desired orientation. When calculating the actuator commands, the physical characteristics of the camera system, such as pulley diameter, cable diameter, friction profile, and actuator constraints, are taken into account. In this implementation of the camera system, the actuator commands are designed to use attitude control to drive the actuators to a specific attitude, thereby producing the desired output orientation of the stereo camera. In other implementations of the camera system, using torque control or more advanced techniques, control torque can be calculated to command the actuators to drive the stereo camera in the desired orientation.

The motor control board transmits these actuation commands to the actuators in the camera control unit assembly, causing the actuator stereo camera to track the surgeon's head movement in real time. In this implementation, attitude and/or orientation data obtained from rotational attitude sensors operatively connected to the pitch and yaw actuation assemblies are simultaneously transmitted back to the motor control board, allowing the motor control board to be aware of the stereo camera's attitude and orientation at all times. This enables the motor control board to adjust the stereo camera's translation and tilt to match the surgeon's head movement. In other implementations, if the stereo camera's actuation is sufficiently rigid, attitude and/or orientation sensing for pitch and/or yaw actuation can be omitted, allowing it to be assumed that the actuator (motor) attitude is directly correlated with the stereo camera's pitch and/or yaw attitude. In an alternative implementation, attitude and/or orientation sensing is completely eliminated, and the stereo camera is actuated about the pitch and yaw axes relative to the previous attitude and/or orientation.

A rigid plate in the camera module processes the video input from the stereo camera. The images and/or video input obtained by the camera module of the stereo camera are displayed on a head-mounted display. Images and/or video input obtained from the camera assembly on the left side of the stereo camera are displayed to the surgeon's left eye, and images and/or video input obtained from the camera assembly on the right side of the stereo camera are displayed to the surgeon's right eye. The combination of the left-eye and right-eye views obtained from the camera assembly of the stereo camera provides the surgeon with a stereoscopic view of the surgical site. In some embodiments, software is used to slightly adjust the stereo camera's view to compensate for any differences between the stereo camera's pose and the surgeon's head pose.

As described above, the camera module and camera module assembly include a digital sensor board for capturing image and/or video input to the surgical site. The digital sensor board of the camera module and module assembly communicates with a video processor board. In different embodiments, various video processor boards are used, including but not limited to various models of Raspberry Pi, eInfochip’s DVPB, NVIDIA Jetson boards, or other video processor boards known in the art. The digital sensor board communicates with the video processor board via the MIPI communication protocol. In some embodiments, image and/or video input from each camera module is sent to its own video processor board, while in other embodiments, image and/or video input from both camera modules is sent to the same video processor board. The video processor board communicates with a computer, which encodes the image/video input using video rendering software. In some embodiments, FFmpeg is the video rendering software used, while in alternative embodiments, other video rendering software known in the art is used. The computer then sends the image and/or video input obtained from the camera module or module assembly via a network stream to a virtual reality computer application. The virtual reality computer application acquires the image and/or video input from the network stream and decodes it using the video rendering software. Image and/or video inputs are sent from the video rendering software to the HMD, which is done through the HMD's software.

Computing System

The subject matter described herein can be implemented using digital electronic circuits or computer software, firmware, or hardware, including the structural means and their structural equivalents disclosed herein, or combinations thereof. The subject matter described herein can be implemented as one or more computer program products, such as those tangibly embodied in an information carrier (e.g., in a machine-readable storage device) or embodied in a propagated signal, or executed or controlled by a data processing device (e.g., a programmable processor, computer, or multiple computers). A computer program (also called a program, software, software application, or code) can be written in any form of programming language, including compiled or interpreted languages, and can be expanded in any form, including as a standalone program or module, component, subroutine, or other unit suitable for a computing environment. A computer program does not necessarily correspond to a file. A program can be stored as part of a file containing other programs or data, in a single file dedicated to the program, or in multiple coordinating files (e.g., a file storing one or more modules, subroutines, or portions of code). A computer program can be expanded to execute on a single computer, at a single site, or on multiple computers distributed across multiple sites, and interconnected via a communication network.

The methods and logic flows described in this specification, including the method steps of the subject matter herein, can perform the functions of the subject matter herein by manipulating input data and generating output by one or more programmable processors executing one or more computer programs. The methods and logic flows can also be performed on, and the means of the subject matter herein can be implemented as, for example, application-specific logic circuitry, such as an FPGA (Field-Programmable Gate Array) or an ASIC (Application-Specific Integrated Circuit).

Processors suitable for executing computer programs include, for example, general-purpose microprocessors and special-purpose microprocessors, as well as any one or more processors in any type of digital computer. Typically, a processor receives instructions and data from read-only memory or random access memory, or both simultaneously. The basic components of a computer are a processor that executes instructions and one or more storage devices that store the instructions and data. Typically, a computer also includes, or is operatively coupled to, one or more mass storage devices for storing data, such as magnetic disks, magneto-optical disks, or optical discs, to receive data from or send data to or both. Suitable information carriers containing computer program instructions and data include various forms of non-volatile memory, including, for example, semiconductor memory (e.g., EPROM, EEPROM, and flash memory devices); magnetic disks (e.g., internal hard disks or removable disks); magneto-optical disks; and optical disks (e.g., CDs and DVDs). The processor and memory may be supplemented or incorporated by special-purpose logic circuitry.

To provide interaction with the user, the subjects described herein can be implemented on a computer with a display device, such as a CRT (cathode ray tube) or LCD (liquid crystal display) monitor for displaying information to the user, and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user. For example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback), and input from the user can be received in any form, including sound, speech, or tactile input.

The subject matter described herein can be implemented in a computing system comprising backend components (e.g., a data server), middleware components (e.g., an application server), or frontend components (e.g., a client computer with a graphical user interface or web browser through which a user can interact with the implementation of the subject matter described herein), or any combination of these backend, middleware, and frontend components. The various components of the system can be interconnected by digital data communication of any form or medium, such as a communication network. Examples of communication networks include local area networks (“LANs”) and wide area networks (“WANs”), such as the Internet.

It should be understood that the disclosed subject matter is not limited to its application of construction details and the arrangement of the components shown in the following description or figures. The disclosed subject matter can have other embodiments and can be practiced and implemented in various ways. Furthermore, it should be understood that the phrases and terms used herein are for descriptive purposes and should not be considered limiting.

Similarly, those skilled in the art will understand that the concepts upon which this disclosure is based can be readily used as the basis for designing other structures, methods, and systems to achieve several of the objectives of the disclosed subject matter. Therefore, it is important that these claims be considered to include such equivalent constructions, provided they do not depart from the spirit and scope of the disclosed subject matter.

While the disclosed subject matter has been described and illustrated in the exemplary embodiments described above, it should be understood that this disclosure is given by way of example only, and many changes may be made to the implementation details of the disclosed subject matter, which are limited only by the appended claims, without departing from the spirit and scope of the disclosed subject matter.

Claims (4)

1. A camera assembly, the camera assembly comprising: a. A camera support tube having a distal end and a proximal end, the distal end of the camera support tube being configured to at least partially pass through a cannula needle; b. A stereo camera assembly operably coupled to the distal end of the camera support tube and configured to pass through the cannula needle and be positioned within an internal body cavity when operably coupled to the distal end of the camera support tube, the stereo camera assembly having an insertion configuration and an deployment configuration, the stereo camera assembly comprising: i. A main camera body operably coupled to the distal end of the camera support tube, wherein the main camera body defines an electrical component cavity. ii. A first camera module having a first optical axis, the first camera module comprising a first camera module body having a first outer edge. iii. A second camera module having a second optical axis, the second camera module comprising a second camera module body having a second outer edge, such that the maximum distance from the first outer edge of the first camera module body to the second outer edge of the second camera module body is greater than the maximum width of the cross-section of the stereo camera assembly perpendicular to the axis of the camera support tube; and iv. An externally driven actuation system comprising a pitch actuation assembly and a yaw actuation assembly, the actuation system providing motion of the first camera module and the second camera module relative to the distal end of the camera support tube along at least two rotational degrees of freedom; and c. At least one rotational attitude sensor, configured to detect rotation of the stereo camera assembly about at least one of a pitch axis or a yaw axis, wherein the yaw axis is perpendicular to the plane containing the camera support tube, and the pitch axis is perpendicular to the yaw axis. In the insertion configuration, the first optical axis of the first camera module and the second optical axis of the second camera module are oriented perpendicular to the camera support tube. 2. The camera assembly of claim 1, wherein the pitch actuation assembly is configured to actuate the stereo camera assembly about the pitch axis independently of the yaw actuation assembly. 3. The camera assembly of claim 1, wherein the at least one rotational attitude sensor is configured to detect rotation about the pitch axis; and The camera assembly further includes a second rotational attitude sensor configured to detect rotation of the stereo camera assembly about the yaw axis. 4. The camera assembly of claim 1, wherein the distal end of the camera support tube has a vertical offset.