Surgery simulation endoscope system

Abstract

A surgical simulation endoscope system is provided that is as effective as a surgical endoscope without the added cost and complexity of a surgical simulation endoscope, comprising an optical housing, a lens, and an image sensor arranged to ensure that the location of the sensor is maintained within the focal depth of the lens without damaging the sensor, and in some cases to provide a tilted and / or rotated field of view.

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE This application relates generally to surgical simulation systems and methods, and more particularly to surgical simulation angled endoscopes, endoscopes, systems, and methods thereof.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Patent Application No. 63 / 331,723, filed April 15, 2022, and U.S. Provisional Patent Application No. 63 / 412,225, filed September 30, 2022, the disclosures of which are hereby incorporated by reference in their entireties as if fully set forth herein. [Background technology]

[0003] Surgical scopes are used in endoscopic and laparoscopic procedures where small incisions are used to pass the scope and instruments such as scissors, dissectors, and graspers into the body cavity at the surgical site. The surgery is performed while viewing the poorly visible surgical site displaying live images captured by the scope and fed onto a video monitor for viewing by the surgeon. Thus, laparoscopic surgery is very difficult to master since the surgeon does not directly view the organs and tissues with the naked eye. Visual information is also obtained indirectly through a monitor displaying a two-dimensional image. The loss of information when presenting a three-dimensional environment through a two-dimensional image is significant. In particular, depth perception is reduced when viewing a two-dimensional image as a guide to manipulate instruments in three dimensions. Furthermore, the instruments / scopes are often inserted through trocars that are inserted through small incisions and rest against the abdominal wall. As a result, the manipulation of the instruments / scopes is limited by the abdominal wall, which has a fulcrum effect on the instruments / scopes. Thus, hand-eye coordination skills are necessary and must be practiced to correlate hand motion with tool tip motion. Due to the reduced sense of touch as the surgeon cannot directly palpate tissue with his or her hands, the surgeon must also develop a set of core tactile skills. Acquiring all of these skills and more is a challenge in laparoscopic training, and a need exists for an endoscope that is suitable for use in a training environment. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] U.S. Pat. No. 8,764,452 Summary of the Invention [Means for solving the problem]

[0005] Generally, a surgical simulation endoscope system is provided. In various embodiments, a surgical simulation angled endoscope or endoscope comprises a handle and an elongated shaft connected thereto. The elongated shaft, in various embodiments, comprises an optical housing at its distal end having a lens and an image sensor mounted thereto. The handle, in various embodiments, comprises a simulated camera head and a simulated endoscope housing. In various embodiments, the surgical simulation endoscope system comprises one or more surgical simulation endoscopes and one or more surgical trainers.

[0006] In various embodiments, the surgical simulation endoscope comprises a handle and an elongated shaft. In various embodiments, the handle comprises an endoscope housing and a camera head. In various embodiments, the camera head has a different shape than the endoscope housing. In various embodiments, the elongated shaft has a proximal end, a distal end, and a longitudinal axis extending between the proximal end and the distal end. In various embodiments, the proximal end of the elongated shaft is fixedly attached to the endoscope housing and the distal end of the elongated shaft comprises an optical mount. In various embodiments, the optical mount has a proximal portion having a pocket therein. In various embodiments, the elongated shaft and the endoscope housing are rotatably attached to the camera head. In various embodiments, a simulated optical cable is fixedly attached to and extends from the endoscope housing. In various embodiments, the simulated optical cable is positioned such that it cannot be connected to a light source. In various embodiments, a lens is disposed within the optical mount and is tilted at a predetermined angle relative to the longitudinal axis. In various embodiments, the predetermined angle is less than 90 degrees, less than 30 degrees, about 30 degrees, and / or in the range of ±15 degrees to ±45 degrees. In various embodiments, the image sensor is disposed within a pocket of the optical mount. In various embodiments, the image sensor has a distal face facing the distal end of the elongate shaft, the distal face being inclined at a predetermined angle relative to a longitudinal axis defined by the elongate shaft.

[0007] In various embodiments, a controller box is connected to the simulated optical and data cables. In various embodiments, a controller is encased in the controller box and connected to the simulated optical and data cables. In various embodiments, the surgical trainer comprises a processor connected to the data cable. In various embodiments, the camera head comprises a proximal portion comprising a simulated camera head housing and a distal portion comprising a simulated coupler. In various embodiments, the simulated camera head housing is curved and comprises one or more flat surfaces arranged to facilitate gripping the simulated camera head housing and holding it stationary as an endoscope housing connected to the simulated camera head housing is rotated.

[0008] In various embodiments, the simulated camera head housing comprises a tapered tail that terminates below the horizontal centerline. In various embodiments, the simulated coupler distinguishes the camera head from the endoscope housing. In various embodiments, the endoscope housing comprises a proximal portion comprising a rotating barrel and a distal portion comprises an adapter housing. In various embodiments, the camera head encases the rotating barrel and the simulated coupler is disposed between the simulated optical cable and a proximal end of the camera head. In various embodiments, an adapter circuit is fixedly connected to the simulated optical cable and enclosed within the adapter housing.

[0009] In various embodiments, the simulated optical cable extends perpendicular to a longitudinal axis extending through and along a portion of the scope. In various embodiments, the simulated optical cable is a USB or HDMI cable. In various embodiments, the simulated camera head housing includes one or more internal ribs that contact the simulated camera head housing to provide one or more bearing surfaces for the rotating barrel to rotate within and relative to the simulated camera head housing. In various embodiments, a friction interface is disposed between the scope housing and the camera head and configured to prevent inadvertent rotational movement between the scope housing and the camera head.

[0010] In various embodiments, an encoder is disposed within a cavity defined by the rotating barrel. In various embodiments, the encoder comprises an encoder shaft extending from and through an opening in a proximal end of the rotating barrel and fixedly secured to the camera head. In various embodiments, the encoder is an absolute encoder and is connected to an adapter circuit within the adapter housing through a wire extending through a connector housing disposed between the rotating barrel and the adapter housing. In various embodiments, the encoder provides rotational data to the adapter circuit. In various embodiments, the adapter circuit provides rotational data to the controller through a simulated optical cable. In various embodiments, the elongated shaft has a non-adjustable length, is non-bendable, and is non-articulatable. In various embodiments, the optical mount has a distal face facing a distal end of the elongated shaft and inclined at a predetermined angle relative to the longitudinal axis.

[0011] In various embodiments, the optical mount has a proximal face facing the proximal end of the elongate shaft and is inclined at a predetermined angle relative to the longitudinal axis. In various embodiments, an optical floor is disposed within the distal end of the elongate shaft and positioned adjacent to the optical mount. In various embodiments, the optical floor has a distal face facing the distal end of the elongate shaft and is inclined at a predetermined angle relative to the longitudinal axis. In various embodiments, the optical floor has a proximal face facing the proximal end of the elongate shaft and is inclined at a predetermined angle relative to the longitudinal axis.

[0012] In various embodiments, an optical cover is disposed adjacent to the lens and is positioned to protect the lens. In various embodiments, the optical cover is optically transparent and configured to filter out near infrared wavelengths. In various embodiments, a light emitting diode is disposed within a square cavity in the optical mount. In various embodiments, one or more wires are connected to the light emitting diode. In various embodiments, one or more wires extend to the endoscope housing and are disposed within a channel in the optical mount. In various embodiments, the channel in the optical mount is connected to the square cavity in the optical mount. In various embodiments, the optical mount has a protrusion facing proximally and positioned to interface with the angled surface at the distal end of the elongated shaft. In various embodiments, the optical mount has a dovetail facing proximally and positioned to interface with a slot in the optical floor.

[0013] In various embodiments, a ribbon cable is connected to the image sensor and extends to the endoscope housing. In various embodiments, the ribbon cable is configured to provide power to the image sensor and provide data from the image sensor to the adapter circuit. In various embodiments, the pocket of the optical mount has a depth less than a thickness of the image sensor. In various embodiments, the optical mount has a threaded portion, and the lens mount comprises a lens and has corresponding threads, and the lens mount is configured to be screwed into the optical mount. In various embodiments, the lens has a distal surface facing the distal end of the elongated shaft and is inclined at a predetermined angle relative to the longitudinal axis. In various embodiments, the optical cover has a distal surface facing the distal end of the elongated shaft and is inclined at a predetermined angle relative to the longitudinal axis. In various embodiments, the light emitting diode has a distal surface facing the distal end of the elongated shaft and is inclined at a predetermined angle relative to the longitudinal axis. In various embodiments, the light emitting diode is located near an outer diameter of the optical mount. In various embodiments, a wall within the optical mount is disposed between the light emitting diode and the lens. In various embodiments, a controller receives the camera image from the image sensor and the rotation data from the absolute encoder, hi various embodiments, the predetermined angle is less than 90 degrees, less than 30 degrees, about 30 degrees, and / or in the range of ±15 degrees to ±45 degrees.

[0014] In various embodiments, a processor is connected to the controller through a data cable. In various embodiments, the processor is configured to utilize the rotation data to rotate the camera image and transmit the rotated camera image to a display screen of the surgical trainer. In various embodiments, the processor is configured to crop the rotated camera image into a predetermined circular shape before transmitting the rotated camera image to the display screen. In various embodiments, the predetermined circular shape has a diameter equal to a height of the camera image received from the image sensor. In various embodiments, the predetermined circular shape has curved sides between a flat top edge and a flat bottom edge. In various embodiments, the flat top edge matches the flat top edge of the display screen and the flat bottom edge matches the flat bottom edge of the display screen. In various embodiments, the controller comprises an image sensor microcontroller, an encoder microcontroller, a power supply, and / or a USB hub.

[0015] In various embodiments, the surgical simulation endoscope comprises a handle and a cylindrical elongate shaft having a proximal end coupled to the handle and a distal end comprising a cylindrical optical mount. In various embodiments, a cylindrical lens is disposed within the cylindrical optical mount. In various embodiments, a light emitting diode is disposed within the cylindrical optical mount having a flat distal surface proximal to the cylindrical lens and facing the distal-most end of the cylindrical elongate shaft. In various embodiments, the light emitting diode is coupled to one or more wires that extend proximally and terminate within the handle. In various embodiments, an image sensor is disposed within a pocket of the cylindrical optical mount and is between the cylindrical lens and a ribbon cable attached to the image sensor. In various embodiments, the ribbon cable extends proximally and terminates within the handle.

[0016] In various embodiments, the optical mount has one or more protrusions positioned to interface with one or more corresponding notches in the elongated shaft to clock the optical mount relative to the elongated shaft. In various embodiments, the optical mount is clocked and secured within the elongated shaft in that the lens and image sensor are aligned in the same upward orientation as the handle. In various embodiments, the elongated shaft is clocked relative to the handle through slots in the elongated shaft positioned to interface with ribs in the handle.

[0017] In various embodiments, the optical cover has a diameter arranged to match the diameter of the opening in the optical mount. In various embodiments, the optical cover is arranged to fit into the opening in the optical mount in which the lens is located. In various embodiments, the optical cover has a diameter smaller than the diameter of the optical mount.

[0018] In various embodiments, the light emitting diode has a square shape. In various embodiments, the light emitting diode is connected to the printed circuit board assembly. In various embodiments, the optical cover is positioned in a counterbore in front of the lens. In various embodiments, the counterbore is deeper than the thickness of the optical cover. In various embodiments, the optical mount has a counterbore and a chamfer at the entrance to the aperture of the optical mount. In various embodiments, the image sensor microcontroller and power source are integrated into the controller or controller PCBA. In various embodiments, the handle defines an interior and houses the controller or controller PCBA. The handle, in various embodiments, has a curved body relative to the longitudinal axis of the elongated shaft. In various embodiments, a data cable connects the handle and the controller or controller PCBA to the surgical trainer, and in various embodiments, a processor and video display are attached to the surgical trainer for displaying images of contents within the cavity defined by the surgical trainer captured by the image sensor and processed by the microcontroller on the controller or controller PCBA.

[0019] Many of the attendant features of this invention will be more readily appreciated as the same becomes better understood by reference to the foregoing and following description and by consideration of the accompanying drawings in which like reference characters designate like parts throughout and in which:

[0020] The present invention can be understood by reference to the following description in conjunction with the accompanying drawings, in which reference numbers designate like parts throughout the drawings. [Brief description of the drawings]

[0021] [Figure 1] 1 is a perspective view of a surgical simulation endoscope according to various embodiments of the present invention. [Diagram 2] FIG. 1 is a perspective view of a surgical simulation endoscopy system according to various embodiments of the present invention. [Diagram 3] FIG. 1 is an exploded view of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 4A] 1A-1D are perspective views of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 4B] 1A-1D are perspective views of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Diagram 5] 1A-1D are perspective views of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 6] 1A-1D are perspective views of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 7] 1A-1D are perspective views of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 8A] FIG. 2 is an exploded view of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 8B] FIG. 2 is an exploded view of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 8C] 1A-1D are perspective views of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 9A] 1 is a perspective view of an optical mount according to various embodiments of the present invention. [Figure 9B] 1 is a bottom view of an optical mount according to various embodiments of the present invention. [Figure 9C] 1 is a front view of an optical mount according to various embodiments of the present invention. [Figure 9D] 1 is a side view of an optical mount according to various embodiments of the present invention. [Figure 10A] 1 is a perspective view of an optical floor according to various embodiments of the present invention. [Figure 10B] FIG. 2 is a bottom view of an optical floor according to various embodiments of the present invention. [Figure 10C] FIG. 2 is a front view of an optical floor according to various embodiments of the present invention. [Figure 10D] FIG. 2 is a side view of an optical floor according to various embodiments of the present invention. [Figure 11] 1 is a perspective view of a controller box according to various embodiments of the present invention. [Figure 12] FIG. 2 is an exploded view of a controller box according to various embodiments of the present invention. [Figure 13] 1 is a process diagram of a surgical simulation endoscopy system according to various embodiments of the present invention. [Figure 14] 1 is a functional block diagram of a surgical simulation endoscopy system according to various embodiments of the present invention. [Figure 15A] 1A-1C are diagrams of exemplary images according to various embodiments of the present invention. [Figure 15B] 1A-1C are diagrams of exemplary rotated images in accordance with various embodiments of the present invention. [Figure 15C] 1A-1C are diagrams of exemplary cropped images in accordance with various embodiments of the present invention. [Figure 16A] 1 is a representative diagram of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 16B] 1A-1C are diagrams of exemplary camera images in accordance with various embodiments of the present invention. [Figure 16C]1A-1C are diagrams of exemplary rotated images in accordance with various embodiments of the present invention. [Figure 17A] 1A-1C are representative diagrams of a rotated surgical simulation scope in accordance with various embodiments of the present invention. [Figure 17B] 1A-1C are diagrams of exemplary camera images in accordance with various embodiments of the present invention. [Figure 17C] 1A-1C are diagrams of exemplary rotated images in accordance with various embodiments of the present invention. [Figure 18A] 1A-1C are representative diagrams of a rotated surgical simulation scope in accordance with various embodiments of the present invention. [Figure 18B] 1A-1C are diagrams of exemplary camera images in accordance with various embodiments of the present invention. [Figure 18C] 1A-1C are diagrams of exemplary rotated images in accordance with various embodiments of the present invention. [Figure 19A] 1A-1C are representative diagrams of a rotated surgical simulation scope in accordance with various embodiments of the present invention. [Figure 19B] 1A-1C are diagrams of exemplary camera images in accordance with various embodiments of the present invention. [Figure 19C] 1A-1C are diagrams of exemplary rotated images in accordance with various embodiments of the present invention. [Figure 20] 1A-1D are side views of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 21] 1A-1D are side views of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 22] 1A-1D are side views of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 23] FIG. 1 is a perspective view of a laparoscope or surgical trainer of a surgical simulation angled surgical system according to various embodiments of the present invention. [Figure 24] FIG. 1 is a perspective view of a surgical simulation endoscopy system according to various embodiments of the present invention. [Diagram 25] FIG. 1 is a perspective view of a surgical simulation endoscopy system according to various embodiments of the present invention. [Figure 26]FIG. 1 is a perspective view of a surgical simulation endoscopy system according to various embodiments of the present invention. [Figure 27] FIG. 1 is a perspective view of a surgical simulation endoscopy system according to various embodiments of the present invention. [Figure 28] FIG. 1 is a perspective view of a surgical simulation endoscopy system according to various embodiments of the present invention. [Figure 29] 1 is a perspective view of a surgical simulation endoscope according to various embodiments of the present invention. [Diagram 30] FIG. 1 is a side view of a surgical simulation endoscope according to various embodiments of the present invention. [Diagram 31] FIG. 1 is a side view of a surgical simulation endoscope according to various embodiments of the present invention. [Diagram 32] 1 is a perspective view of a surgical simulation endoscope according to various embodiments of the present invention. [Diagram 33] FIG. 1 is an exploded view of a surgical simulation endoscope according to various embodiments of the present invention. [Diagram 34] FIG. 2 is an exploded view of a proximal portion of a surgical simulation endoscope according to various embodiments of the present invention. [Diagram 35] 1 is a perspective view of a distal portion of a surgical simulation endoscope according to various embodiments of the present invention. [Diagram 36] FIG. 2 is an exploded view of a distal portion of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 37] 1A-1D are perspective views of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 38] 1A-1D are various views of portions of a surgical simulation scope according to various embodiments of the present invention. [Figure 39] 1A-1D are various views of portions of a surgical simulation scope according to various embodiments of the present invention. [Diagram 40] 1A-1D are various views of portions of a surgical simulation scope according to various embodiments of the present invention. [Diagram 41] 1A-1D are various views of portions of a surgical simulation scope according to various embodiments of the present invention. [Diagram 42] 1A-1D are various views of portions of a surgical simulation scope according to various embodiments of the present invention. [Diagram 43] 1A-1D are various views of portions of a surgical simulation scope according to various embodiments of the present invention. [Diagram 44] 1A-1D are various views of portions of a surgical simulation scope according to various embodiments of the present invention. [Diagram 45] 1A-1D are various views of portions of a surgical simulation scope according to various embodiments of the present invention. [Figure 46] 1A-1D are various views of portions of a surgical simulation scope according to various embodiments of the present invention. [Figure 47A] 1A-1D are various views of an optical mount for a surgical simulation endoscope according to various embodiments of the present invention. [Figure 47B] 1A-1D are various views of an optical mount for a surgical simulation endoscope according to various embodiments of the present invention. [Figure 47C] 1A-1D are various views of an optical mount for a surgical simulation endoscope according to various embodiments of the present invention. [Figure 47D] 1A-1D are various views of an optical mount for a surgical simulation endoscope according to various embodiments of the present invention. [Figure 47E] 1A-1D are various views of an optical mount for a surgical simulation endoscope according to various embodiments of the present invention. [Fig.47F] 1A-1D are various views of an optical mount for a surgical simulation endoscope according to various embodiments of the present invention. [Figure 47G] 1A-1D are various views of an optical mount for a surgical simulation endoscope according to various embodiments of the present invention. [Fig. 47H] 1A-1D are various views of an optical mount for a surgical simulation endoscope according to various embodiments of the present invention. [Figure 48A] 1A-1D are various views of the optical floor of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 48B] 1A-1D are various views of the optical floor of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 48C] 1A-1D are various views of the optical floor of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 48D] 1A-1D are various views of the optical floor of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 48E] 1A-1D are various views of the optical floor of a surgical simulation endoscope according to various embodiments of the present invention. [Fig.48F] 1A-1D are various views of the optical floor of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 48G] 1A-1D are various views of the optical floor of a surgical simulation endoscope according to various embodiments of the present invention. [Fig. 48H] 1A-1D are various views of the optical floor of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 49] 1A-1D are perspective views of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 50] 1A-1D are perspective views of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 51] 1A-1D are perspective views of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 52] 1 is a perspective view of an optical mount according to various embodiments of the present invention. [Diagram 53] 1 is a perspective view of an optical mount according to various embodiments of the present invention. [Figure 54] 1A-1D are perspective views of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 55A] 1 is a perspective view of an optical mount according to various embodiments of the present invention. [Figure 55B] 1A-1D are perspective views of portions of a surgical simulation endoscope according to various embodiments of the present invention. [Figure 56] 1A-1D are perspective views of portions of a surgical simulation endoscope according to various embodiments of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Generally, a surgical simulation angled scope or scope is provided to aid in laparoscopic surgical skills training and simulation. The environment for training laparoscopic surgical skills can include a surgical trainer intended to simulate a human abdominal region. The trainer in various embodiments includes a penetrable cover and / or port that simulates the abdominal wall and / or simulates access through the simulated body cavity when inserting a surgical instrument and / or scope to access a simulated body cavity that houses an artificial organ or skill training model for practicing a simulated surgical procedure. A real surgical scope or surgical grade scope can be used in the training environment. A surgical grade scope is a high quality calibrated precision instrument that has only very small optical distortions and provides enough light to fully illuminate the cavity. However, surgical grade scopes are also very expensive, costing thousands of dollars. Because surgical grade scopes are expensive and can easily be mishandled, broken, and scratched by inexperienced users, there is a need for a training scope suitable for use in the training environment. In addition, there is a need for cheaper and more portable scopes, not only in training environments, but also in marketing environments for on-the-go instrument display and demonstration of new procedures. A surgical grade scope is not needed in a training or marketing environment, and it may be overly cumbersome and expensive to transport. In addition, surgical training and simulation centers have limited budgets, and there is a need for a cheaper, yet still effective scope designed with training purposes in mind.

[0023] 1-28, a surgical simulation angled endoscope or scope 10 is provided according to various embodiments. The endoscope includes a handle 12 connected to an elongated shaft or tube 14. The handle 12 includes a simulated endoscope housing 20 and a simulated camera head 30. The simulated camera head 30 has a body that is angled or curved relative to the longitudinal axis of the elongated shaft 14. The simulated endoscope housing 20 and the elongated shaft 14 are rotatable relative to the simulated camera head 30. A simulated optical cable 21 connects the simulated endoscope housing 20 to a controller box 50. A data cable 51 connects the controller box 50 to a surgical trainer 60, which in various embodiments is integrated with or attached to a computer, microcontroller, and / or processor, and / or video display or monitor for displaying images of contents within a cavity defined by the surgical trainer 60. The endoscope 10 has an off-axis endoscope field of view relative to the longitudinal axis of the elongated shaft. At the distal end of the scope, a lens 45 and image sensor 43 are disposed at a predetermined angle, e.g., 30°, relative to the centerline or longitudinal axis of the elongated shaft, thereby providing an off-axis or tilted scope view. In various embodiments, the predetermined angle is about 30 degrees, e.g., ±30 degrees. In various embodiments, the predetermined angle ranges from ±15 degrees to ±45 degrees. In operation, a user navigates the surgical simulation scope and holds the simulated camera head 30 steady and level as they rotate the simulated scope housing 20, the simulated optical cable 21, and / or the elongated shaft 14.

[0024] According to various embodiments, the simulated camera head 30 comprises a simulated camera head housing 32 and a simulated coupler 34. The simulated camera head housing 32 is disposed on or integrated into a proximal portion of the simulated camera head, and the simulated coupler 34 is disposed on or integrated into a distal portion of the simulated camera head. In various embodiments, as shown, for example, in FIGS. 3-5, the simulated camera head 30 is a two-piece clamshell design that combines a pair of camera head housing halves 32a, 32b and a pair of simulated coupler halves 34a, 34b to facilitate easy assembly and connection to the simulated endoscope housing 20. In various embodiments, the simulated camera head housing 32 is curved or contoured to fit ergonomically in the hand of a user, e.g., a training instructor or practicing surgeon. The simulated camera head housing 32 comprises one or more flat surfaces that facilitate easy handling or gripping of the simulated camera head 30. In various embodiments, the simulated camera housing 32 has a rectangular cross-section at or near its center point, with flat surfaces on all sides of the simulated camera head 30 to facilitate handling or gripping the simulated camera head 30. In various embodiments, the simulated camera head 30 resembles a handgun grip. In various embodiments, the simulated camera head has a proximal end that terminates below a horizontal centerline and has a tapered tail that provides an "up" or directional indicator. In various embodiments, the simulated coupler 34 facilitates placement of a user's hand on the simulated camera head 30 or gripping the head. In various embodiments, the simulated coupler 34 distinguishes or delineates the simulated camera head 30 from the simulated endoscope housing 20.

[0025] In various embodiments, the halves of the simulated camera head 30 are press-fit together around the simulated scope housing 20. The simulated scope housing 20 has an inverted T-shape. In various embodiments, the simulated scope housing 20 has a longitudinal portion extending proximally and distally along the longitudinal axis of the scope 10 and a portion extending perpendicularly or transversely to the longitudinal portion of the simulated scope housing 20. In various embodiments, the simulated scope housing 20 includes an adapter housing 22 and a rotating barrel 29. The rotating barrel 29 is disposed on or integrated into a distal portion of the simulated scope housing 20, and the adapter housing is disposed on or integrated into a proximal portion of the simulated scope housing 20. In various embodiments, the simulated endoscope housing 20 is a two-piece clamshell design that combines a pair of rotating barrel halves 29a, 29b with a pair of adapter housing halves 22a, 22b to simplify assembly and connection to the elongated shaft 14 and / or simulated optical cable 21.

[0026] The adapter housing 22 defines an interior or cavity that is sized, shaped, and dimensioned to enclose and secure an adapter circuit or printed circuit board (PCBA) 24. A simulated optical cable 21 is connected to the adapter PCBA 24 and extends perpendicular or transverse to the adapter PCBA. The cavity of the adapter housing 22 also encloses and secures the simulated optical cable 21. The portion of the adapter housing 22 that extends perpendicular or transverse to the longitudinal axis of the endoscope 10 further secures the perpendicular or transverse simulated optical cable to the adapter PCBA.

[0027] The simulated optical cable 21 mimics an optical cable or the arrangement of an optical cable relative to a surgical scope. However, in various embodiments, the simulated optical cable does not include any optical wires or cabling, such as fiber optic cables, configured to transmit light. The simulated optical cable transmits data from the adapter PCBA 24 to the controller PCBA 52 of the controller box 50. In various embodiments, the simulated optical cable 21 is an HDMI, USB, or other similar data cable or connection arranged to transmit data from the adapter PCBA to the controller PCBA. In various embodiments, the adapter PCBA and / or the controller PCBA comprises one or more connectors connected to the simulated optical cable and arranged to transmit / receive data and / or power therethrough.

[0028] In various embodiments, the simulated camera head 30 defines an interior or cavity in which a portion of the simulated endoscope housing 20, e.g., the proximal portion of the adapter housing 22 and the rotating barrel 29, is positioned, enclosed, and rotatably fixed. In various embodiments, the simulated camera head 30 includes one or more internal ribs that provide one or more bearing surfaces for the simulated endoscope housing, e.g., the adapter housing 22 and / or the rotating barrel 29, to rotate thereon. In various embodiments, the one or more internal ribs are positioned or spaced apart from one another to reduce any rocking of the simulated endoscope housing 20 within the simulated camera head 30.

[0029] In various embodiments, a friction interface or ring is provided between the simulated endoscope housing 20 and the simulated camera head 30 to prevent inadvertent rotational movement therebetween and / or to ensure that a deliberate and purposeful force is used when rotating the simulated endoscope housing 20. In various embodiments, the friction interface is an O-ring that is mounted around the proximal end of the rotating barrel 29 to provide torsional friction between the simulated camera head 30 and the simulated endoscope housing 20. In various embodiments, the O-ring is axially crimped between the support rib of the simulated camera head housing 32 and the opposing face of the rotating barrel 29. In various embodiments, the O-ring provides a predetermined torsional friction. In various embodiments, the predetermined torsional friction prevents the simulated endoscope housing 20 and / or the simulated optical cable 21 from rotating under their own weight and / or prevents jitter. In various embodiments, the O-ring provides lateral pressure against the mock scope housing 20, urging the mock scope housing 20 against the inside of the mock camera head housing 32 to eliminate any slop. In various embodiments, the friction interface or material is some type of clutch material or brake pad or compression spring.

[0030] In various embodiments, a friction interface is provided on the rotating barrel 29. In various embodiments, the friction interface comprises a distal control interface, e.g., an O-ring at the distal end of the rotating barrel 29, and a proximal control interface, e.g., a shim at the proximal end of the rotating barrel 29. In various embodiments, the distal control interface is manufactured of a different material, thickness, and / or number of components than the proximal control interface. In various embodiments, the distal control interface comprises one or more O-rings manufactured from a resilient or elastomeric material, e.g., rubber, and the proximal control interface comprises one or more shims manufactured from a rigid material, e.g., metal, and having a different thickness than the one or more O-rings. In various embodiments, the distal control interface comprises a rubber O-ring and the proximal control interface comprises two stainless steel shims, having a smaller thickness than the O-rings. In various embodiments, the proximal control interface, e.g., one or more shims, allows for a variable axial compression force to provide a predetermined torsional friction, and / or in various embodiments, the distal control interface, e.g., one or more O-rings, and the proximal control interface, e.g., one or more shims, provide dissimilar material interaction between the distal end of the simulated camera head and the proximal end of the simulated endoscope housing, thereby increasing control of rotation.

[0031] The rotating barrel 29, in various embodiments, defines an interior or cavity that is sized, shaped, and / or dimensioned to enclose and secure the encoder 26. In various embodiments, the encoder 26 is fully constrained within and relative to the rotating barrel 29. Connected to the encoder 26 is an encoder shaft 27 that extends from a proximal end of the rotating barrel through an opening formed therein. The encoder shaft 27 is secured to and / or fully constrained within the simulated camera head 30 and particularly between the simulated camera head housing halves 32a,b, for example. Wires 25 connect the encoder 26 to the adapter PCBA 24. The wires, in various embodiments, are secured within a cavity defined by a connector housing 92 disposed between the rotating barrel 29 and the adapter housing 22.

[0032] According to various embodiments, the encoder 26 measures or determines the rotational position, increment, or data of the elongated shaft 14 and the simulated endoscope housing 20, including, for example, the lens, image sensor, adapter PCBA, and / or encoder, relative to a simulated camera head 30, including, for example, a simulated camera head housing and / or encoder shaft. In various embodiments, the encoder shaft 27 is fixed or attached to the simulated camera head and the encoder 26 is mounted or housed in the simulated endoscope housing 20, which rotates relative to the simulated camera head. As the encoder rotates, the encoder shaft remains fixed or stationary, and thus the encoder determines the rotational position, incremental change, or difference between the encoder 26 and the encoder shaft 27. In various embodiments, the encoder 26 is an absolute encoder. The encoder 26 provides or transmits the rotational data to the adapter PCBA 24 through wires 25. The adapter PCBA 24 passes the rotational data through the simulated optical cable 21 to the controller PCBA 52 in the controller box 50.

[0033] The elongated shaft 14 is connected to a distal end of the handle 12. The elongated shaft 14 includes a sidewall having a cylindrical shape that defines a lumen. The shaft 14 includes a proximal end and a distal end, with the lumen extending between the ends. In various embodiments, the distal end of the elongated shaft 14 is cut or beveled, i.e., has a predetermined angle, e.g., 30°. In various embodiments, the predetermined angle is about 30°, e.g., ±30°. In various embodiments, the predetermined angle is in the range of ±15° to ±45°. The distal end of the elongated shaft 14 includes a distal opening, which in various embodiments is arranged to receive and accommodate the optical housing 40. The proximal end of the shaft 14 is connected to the handle 12 and includes a proximal opening such that the lumen of the shaft 14 opens into the handle 12.

[0034] In various embodiments, the proximal end of the elongated shaft 14 is connected to the mock scope housing 20 through a machined hole that interfaces with a molded pin on the mock scope housing 20. In various embodiments, the elongated shaft 14 has a machined keyway positioned to interface with a molded rib in the mock scope housing 20. In various embodiments, a dual-purpose clamp 23 is provided to secure the elongated shaft 14 to the mock scope housing 20. In various embodiments, the dual-purpose clamp 23 is a metal clamp secured around the proximal end of the elongated shaft 14 to ground the elongated shaft 14 to the adapter PCBA 24. According to various embodiments, the diameter of the elongated shaft 14 is between about 3 mm and 15 mm. The outer diameter is sized to fit inside a correspondingly sized trocar. In various embodiments, the elongated tube is manufactured from stainless steel and / or formed as a monolithic structure. In various embodiments, the elongated shaft 14 has a fixed or non-adjustable length and / or is not bendable. In various embodiments, the elongated shaft 14 is straight and is aligned with the handle 12 , the simulated camera head 30 , and / or the simulated endoscope housing 20 .

[0035] 6-10D, the optical housing 40 is positioned inside the endoscope 10 and connected to the elongated shaft 14. In various embodiments, the optical housing 40 is glued or otherwise attached to the distal end of the elongated shaft 14. In various embodiments, dowel pins extend between and connect the optical housing 40 to the elongated shaft 14. The optical housing 40 ensures that the active area of ​​the image sensor 43 is aligned with the lens 45, thereby avoiding unintended cropping or shading of the image.

[0036] In various embodiments, the optical housing 40 is positioned at the distal end of the elongated shaft 14 and includes an optical mount 44 and / or an optical floor 42. The optical mount 44 and the optical floor 42 are connected to and aligned with one another. However, the optical mount 44 and / or the optical floor 42 are disposed at an offset, angle, or incline relative to the longitudinal axis of the elongated shaft 14. The optical mount 44 and / or the optical floor 42 have a surface that is disposed at an offset, angle, or incline relative to the longitudinal axis of the elongated shaft 14.

[0037] The optical mount 44 is sized and shaped to fit within the lumen of the elongate shaft 14. The optical mount 44 is wholly or partially cylindrical with both proximal and distal faces or walls having a predetermined angle, e.g., a 30 degree incline, relative to the longitudinal axis of the elongate shaft 14 and connected to one another by a generally cylindrical sidewall. In various embodiments, the predetermined angle is about 30 degrees, e.g., ±30 degrees. In various embodiments, the predetermined angle ranges from ±15 degrees to ±45 degrees. Thus, the proximal and distal walls are parallel to one another. The optical mount 44 houses or secures the image sensor 43, the light emitting diode (LED) 47, the lens 45, and the optical cover 46. The optical mount has a pocket or cavity 441 in the proximal wall for receiving and securing the image sensor 43. In various embodiments, the image sensor is mounted on a printed circuit board (PCB), and thus the cavity of the optical mount is sized and shaped to receive and secure the image sensor PCB as well as the image sensor. In various embodiments, the image sensor PCB is hexagonal to minimize the space it occupies within the optical housing. Additionally, the cavity 441 has an opening 442 that extends through the pocket and through the distal wall. This opening is positioned to receive and secure the lens 45 and the optical cover 46. This positioning ensures that the image sensor 43, and in particular its active area, is aligned with the lens 45 and / or the optical cover 46 to optimally capture the image. In various embodiments, the lens 45 is circular in shape and / or has a wide field of view and a wide depth of field. In various embodiments, the lens has a field of view of 91.5 degrees and a depth of field of 1'' to 4'' (and in various embodiments 1'' to 7'') from the front or distal end of the optical housing and / or the distance from the lens 45 to the image sensor 43.

[0038] In various embodiments, the optical cover 46 is optically transparent and positioned to protect the lens, and in various embodiments, positioned to filter out near IR wavelengths that provide red color in the image, e.g., near IR wavelengths near and / or above 700 nm. In various embodiments, the optical cover comprises a near IR cutoff filter near 700 nm. In various embodiments, the near IR cutoff filter is positioned between the lens 45 and the image sensor 43 and / or the optical cover 46 lacks a filter and remains optically transparent and protects the lens. In various embodiments, the optical cover 46 is scratch resistant and durable. In various embodiments, the optical cover 46 is made of sapphire glass. In various embodiments, the optical cover 46 is made of borosilicate glass, which provides a highly durable material that avoids scratches and / or potential damage. In various embodiments, the optical cover 46 includes or is coated with an IR blocking material or coating that prevents the transmission of IR light that may result in a red-hued image due to, for example, proximity to a window or sunlight.

[0039] According to various embodiments, a pocket or cavity 443 in the optical mount 44 is also provided in the distal wall to receive and secure the LED 47. The optical mount 44 also has a channel or slot 444 in or connected to the pocket 443 to receive, secure, and route the leads or wires 49 extending from the LED 47. The optical floor 42 also has a channel or slot 423 aligned with the optical mount channel 444 to receive, secure, and route the wires 49 extending from the LED 47. The wires 49 extend through the elongated shaft 14 and into the handle 12. In various embodiments, the wires 49 connect to an adapter PCBA 24 located in the handle 12. In various embodiments, other openings or cavities are provided to aid in manufacturing and assembling the optical mount and / or optical housing into the elongated shaft 14 and / or optical floor 42.

[0040] In various embodiments, the optical mount 44 has a proximal facing protrusion or step 445 that is positioned to interface with an inclined, i.e., predetermined angle, e.g., 30°, surface at the distal end of the elongated shaft to clock the optical mount relative to the elongated shaft. In various embodiments, the predetermined angle is about 30 degrees, e.g., ±30 degrees. In various embodiments, the predetermined angle ranges from ±15 degrees to ±45 degrees. Additionally, the step provides shock absorption and protection to the elongated shaft in the event of an accidental drop. In various embodiments, the step has a thickness of about 1.5 mm, and in various embodiments, a thickness of about 1.5 mm to 2 mm. The optical mount 44 has a proximal facing protrusion or dovetail 446 that is positioned to interface with a channel or slot 421 in the optical floor 42 to aid in securing and aligning the optical mount 44 to the optical floor 42. In various embodiments, the dovetail of optical mount 44 is tapered and channel 421 in optical floor 42 has a corresponding taper to receive the dovetail of the optical mount.

[0041] The optical floor 42 is sized and shaped to fit within the lumen of the elongate shaft 14. The optical floor 42 is partially or fully cylindrical with a proximal surface or wall and a distal surface or wall, both of which have a predetermined angle, e.g., a 30 degree slope, relative to the longitudinal axis of the elongate shaft 14 and are connected to one another by a generally cylindrical sidewall. In various embodiments, the predetermined angle is about 30 degrees, e.g., ±30 degrees. In various embodiments, the predetermined angle ranges from ±15 degrees to ±45 degrees. Thus, the proximal and distal walls are parallel to one another. Similarly, the proximal and distal walls of the optical floor and the proximal and distal walls of the optical mount are parallel to one another. The optical floor 42 is sized and configured to provide a backing or support for the image sensor 43 and / or the image sensor PCB. In various embodiments, the optical mount 44 and the optical floor 42 are bonded to one another. In various embodiments, a gasket is disposed between the optical mount 44 and the optical floor 42 to apply back pressure to the image sensor disposed on the optical mount. In various embodiments, the image sensor is glued to the optical mount. The optical floor 42 further includes a channel or slot 422 sized and shaped to receive, secure, and route the wires and / or ribbon cables 41 extending from the image sensor 43. The ribbon cables 41 extend through the elongated shaft 14 and into the handle 12. In various embodiments, the ribbon cables 41 connect to an adapter PCBA 24 disposed on the handle 12. The ribbon cables 41 transmit the image feed or raw image data of the image sensor from the image sensor 43 to the adapter PCBA 24 in various embodiments. In various embodiments, the adapter PCBA 24 includes one or more connectors disposed to connect to the wires 49 and / or ribbon cables 41 and transmit / receive data and / or power therethrough. In various embodiments, the optical floor 42 is optional, and thus connections or features of the optical mount 44 utilized to interface with the optical floor can be omitted. In various embodiments, the dovetail and corresponding receiving channel may be optional.

[0042] According to various embodiments, one or more LEDs are fixed or mounted to the optical housing. In various embodiments, the LEDs, for example LED 47, are placed on a PCB with two through holes, and wires or leads are soldered to the through holes to transmit power to the LEDs through the elongated shaft 14. The LEDs 47 are placed near the outer or distal face or outer diameter of the wall of the optical mount 44, away from the lens 45, maximizing the distance between the two and / or the wall thickness of the optical mount between them to prevent or avoid any noticeable lens flare. In various embodiments, the space behind the LEDs is blocked with glue, wax, or other similar opaque material, and / or the lumen of the elongated shaft includes or is coated with a non-reflective material to further help prevent any noticeable lens flare or halo, either generally or near and / or around the optical housing. In various embodiments, a black or opaque adhesive bonds the LEDs to the optical mount and in various embodiments is placed along an edge behind or proximal to the LEDs to prevent light from the LEDs from traveling back into the elongated shaft and / or image sensor. In various embodiments, the optical cover is also isolated from the LEDs 47 by and / or by placement or positioning on the optical mount to prevent the LEDs from illuminating the optical cover and, for example, resulting in undesirable reflections or image distortions. In various embodiments, a light blocking wall, e.g., a plastic and / or opaque wall, is placed on the optical mount 44 between the LEDs and the lens and / or optical cover to enhance light blocking between the LEDs and the lens and / or optical cover.

[0043] For example, as shown in FIGS. 11-12, according to various embodiments, the controller box 50 includes a cavity or interior in which the controller PCBA 52 is housed. The controller PCBA 52 is disposed between the simulated optical cable 21 and the data cable 51. In various embodiments, the controller PCBA 52 includes one or more connectors disposed to connect to the simulated optical cable 21 and / or the data cable 51. In the illustrated embodiment, the controller box 50 includes a pair of controller box halves 50a, 50b in a two-piece clamshell design that simplifies assembly and connection to the data cable 51 and / or the simulated optical cable 21. The simulated optical cable and / or the data cable are permanently affixed to the controller PCBA. In various embodiments, the simulated optical cable and / or the data cable are removably attached to the controller PCBA. In various embodiments, the simulated optical cable 21 is an HDMI cable or an HDMI to micro HDMI cable. In various embodiments, the data cable 51 is a USB cable or a USB to micro USB cable.

[0044] 13-15C, the controller PCBA 52 receives the camera image from the image sensor 43. The controller PCBA 52 receives rotation data, e.g., a rotation angle, from the encoder 26. A processor or controller of the surgical trainer 60 utilizes the received rotation data to rotate the received camera image and transmits the rotated camera image to a display screen of the surgical trainer. In various embodiments, the controller of the surgical trainer includes a filter to remove noise from the rotation data received from the encoder 26. In various embodiments, the filter smooths the rotation data from the encoder 26 using an exponentially smoothed moving average. The controller of the surgical trainer uses the filtered / smoothed angle and a two-dimensional rotation matrix to rotate the camera image around its center, e.g., as shown in FIGS. 15A-15B.

[0045] In various embodiments, as shown in FIG. 15C, for example, the rotated camera image is cropped by the surgical trainer's controller into a predetermined shape, for example, a circle, and then transmitted to the display screen. The predetermined circle has a diameter equal to the height of the camera image received from the image sensor. As the scope is rotated, the camera image displayed on the display screen fills the circle. Thus, there are no moving visual artifacts, such as edges or corners, of the camera image while the scope is being rotated.

[0046] In various embodiments, the encoder 26, which is an absolute encoder, provides absolute values ​​according to the position of the encoder shaft. The encoder outputs encoder data, e.g., encoder values ​​from 0 to 1024, in binary format, which represent the rotational position of the encoder relative to the encoder shaft. In various embodiments, an encoder microcontroller is integrated into or otherwise attached to the controller PCBA 52, which receives and reads the encoder data, e.g., binary encoder values, from the absolute encoder and outputs these values ​​through USB communication. In various embodiments, the image sensor 43 is a CMOS (complementary metal oxide semiconductor). The image sensor 43 converts light into electrical signals that can be processed to generate an image. In various embodiments, an image sensor microcontroller is integrated into or otherwise attached to the controller PCBA 52, which processes the raw image sensor data and outputs the image through USB communication. The USB hub takes the processed encoder data and the processed image sensor data and outputs the two data streams simultaneously. The data streams are sent to a controller or processor attached to or integrated with the surgical trainer 60. According to various embodiments, the image sensor microcontroller, the encoder microcontroller, the power supply, and / or the USB hub are all part of, eg, integrated into and / or attached to, the controller PCBA 52 within the controller box 50 .

[0047] 16A-19C, as shown in these exemplary figures, the illustrated cone defines the field of view of the camera. With the simulated camera housing held stationary or immobile, the simulated endoscope housing is rotated as indicated by the position of the simulated optical cable 21. As with the simulated endoscope housing, the elongated shaft and optical housing are also rotated, and the camera or viewing cone is also rotated to provide a different view of the illustrated "UL". The camera viewpoint or image view is also rotated with the elongated shaft, along with the optics, e.g., lens and image sensor, at the tip or distal end of the elongated shaft. The rotation, rotation angle, or position between the simulated endoscope housing and the simulated camera housing is measured by the encoder 26. Using this measurement, the image is rotated to display an upright "UL" as shown. In the illustrated embodiment, the field of view of the camera is shown as a cone, however, in various embodiments, the field of view may not be a cone and may be defined in part by the lens and / or image sensor. In various embodiments, the camera's field of view resembles a pyramidal or tapered field of view that extends distally to a rectangular or square base.

[0048] Figure 16B illustrates an exemplary camera field of view with the scope at zero degrees and / or an initial position, and Figure 16C illustrates an exemplary rotated image processed by the controller PCBA 52 and / or the processor of the surgical trainer 60 and displayed on a screen or monitor of the surgical trainer 60. Figures 17B, 18B, and 19B provide exemplary camera fields of view with the scope at 90 degrees, 180 degrees, and 270 degrees, respectively, and Figures 17C, 18C, and 19C provide exemplary rotated images (90 degrees, 180 degrees, and 270 degrees) processed by the controller PCBA 52 and / or the processor of the surgical trainer 60 and displayed on a screen or monitor of the surgical trainer 60.

[0049] With reference to FIG. 20, various embodiments provide a machined encoder housing. The encoder 26 is housed in a machined hollow rotating shaft or barrel that is rigidly connected to the simulated endoscope housing 20 and rotates within the simulated camera head 30. With reference to FIG. 21, various embodiments provide a machined rotating shaft or barrel. The machined solid rotating shaft acts as a connection between the encoder shaft 27 and the simulated camera head 30 and translates the rotation of the encoder within the simulated endoscope housing 30 relative to the simulated camera head. It is believed that the machined rotating shaft can act as a bearing surface for the simulated endoscope housing 20 and the simulated camera head 30. With reference to FIG. 22, various embodiments provide a flange restraint and rotation. A flange on the simulated endoscope housing axially restrains the simulated camera head 30 and allows it to rotate about a protruding shaft. The short length of the shaft allows the encoder shaft 27 to directly engage the simulated camera head 30, thus capturing rotation of the simulated endoscope housing relative to the simulated camera head.

[0050] 23-28, a laparoscopic surgical training device or trainer 60 is shown in accordance with various embodiments of the present invention. The laparoscopic surgical training device 60 provides an internal cavity 208 that is substantially hidden from a user and is intended to receive a simulated tissue or live tissue or organ model or training model. The body cavity 208 is accessed through a tissue simulation region 210 that a user penetrates with the device to practice surgical techniques on the tissue model or training model found positioned therein. Although the internal cavity 208 is shown accessible through the tissue simulation region 210, the internal cavity 208 can alternatively be accessed using a hand assisted access device, a trocar, or a single site port device. An exemplary laparoscopic surgical training device or trainer is described in U.S. Patent No. 8,764,452, entitled "Portable Laparoscopic Trainer," filed September 29, 2011, the entire contents of which are incorporated herein by reference. The surgical trainer is particularly suited for practicing laparoscopic or other minimally invasive surgical procedures.

[0051] The surgical trainer includes a top cover 202 connected to and spaced from a base 204 by a number of legs 206. In various embodiments, the surgical trainer is configured to mimic a patient's body, such as the abdominal region. The top cover 202 represents the front of the patient, and the space between the top cover 202 and the base 204 represents the patient's body interior or cavity in which organs reside. The surgical trainer is an advantageous tool for simulating a patient undergoing a surgical procedure to teach, practice, and demonstrate various surgical procedures and associated instruments. Surgical instruments and / or surgical simulation scopes 10, 10' according to various embodiments of the present invention are inserted into cavities through tissue simulation areas 210 and / or pre-established openings 212 in the top cover 202. Various tools and techniques can be used to penetrate the top cover 202 to perform simulated procedures on the simulated organs or training model disposed between the top cover 202 and the base 204. The base 204 includes a model receiving area 214 or tray (not shown) for supporting or holding the simulated tissue model or live tissue thereon. The model receiving area 214 of the base includes a frame-like element for holding the model in place. To assist in holding the simulated tissue model or live organ on the base 204, clips attached to retractable wires are provided at various locations around the base 204. The retractable wires are extended and then clipped to hold the tissue model or organ model in position substantially beneath the tissue simulation area 210 and / or opening 212. Other means for holding the tissue model include a patch of hook-and-loop type fastening material secured to the base 204 within the model receiving area 214 that is removably connectable to a complementary portion of hook-and-loop type fastening material secured to the tissue model or organ model.

[0052] The video display monitor 216 is hinged to the top cover 202 (shown in a closed orientation in FIG. 4). The video display monitor 216 can be connected to various vision systems for sending images to the monitor. According to various embodiments, the surgical simulation scope 10 inserted through one of the pre-established apertures 212 and used to view the procedure simulation can be connected to the video display monitor 216 and / or a mobile computing device to provide images to a user. In various embodiments, the data cable 51 is removably connected to the surgical trainer 60. In various embodiments, the data cable 51 provides image sensor data and / or encoder data to a controller or processor of the surgical trainer for processing and displaying images on the monitor 216. In various embodiments, an audio recording or audio delivery system can be provided and integrated with the surgical trainer 60 to provide audiovisual capabilities. Access is further provided for connecting to a portable memory storage device, such as a flash drive, a smart phone, a digital audio or video player, or other digital mobile device, for recording training procedures and / or for playing pre-recorded videos on the monitor for demonstration purposes. In various embodiments, connections are provided to provide audio and / or video output to a screen larger than the monitor. In various embodiments, the top cover 202 does not include a video display monitor, but does include means for connecting to a laptop computer, mobile digital device, or tablet, and means for connecting to a trainer, either wired or wirelessly.

[0053] When assembled, the top cover 202 is positioned directly above the base 204 by a number of legs 206 positioned substantially around the periphery and interconnecting the top cover 202 and the base 204. The top cover 202 and the base 204 are of substantially the same shape and size and have substantially the same peripheral contours. The interior cavity 208 is partially or fully hidden from view. The legs 206 include openings to allow ambient light to illuminate the interior cavity as brightly as possible and to allow for as light weight as possible for convenient portability. The top cover 202 is detachable from the legs 206, which are detachable or foldable, such as through hinges, relative to the base 204. Thus, the surgical trainer 60 in the disassembled state has a low height that allows for easy portability. According to various embodiments, the surgical trainer provides a simulated body cavity or interior cavity 208 that is hidden from the user. The internal cavity 208 is configured to receive at least one surgical model accessible through at least one tissue simulation area 210 and / or preformed opening 212 in the top cover 202, through which a user can access the models to practice laparoscopic or endoscopic minimally invasive surgical techniques. In Figs. 24-25, a surgical simulation endoscope system is shown with the surgical simulation scope 10 in a zero degree and / or initial position and exemplary images are displayed on the screen of the surgical trainer 60, according to various embodiments. In Figs. 26-28, a surgical simulation endoscope system is shown with the surgical simulation scope 10 in a 90 degree, 180 degree, and 270 degree position, respectively, and corresponding exemplary images are displayed on the screen of the surgical trainer 60, according to various embodiments.

[0054] 29-56, in accordance with various embodiments, a surgical simulation endoscope 10' includes a handle 12' connected to an elongated shaft 14'. The handle 12' is a two-piece clamshell housing, e.g., handle half 12a' and handle half 12b', that defines an interior and houses a controller PCBA 20'. The handle 12' has a body that is angled or curved relative to the longitudinal axis of the elongated shaft 14'. The handle 12' and elongated shaft 14' are fixed or non-rotatable relative to one another. A data cable 22' connects the handle 12' and controller PCBA 20' to a surgical trainer 60', which in various embodiments is integrated with or attached to a computer, microcontroller, and / or processor, and / or a video display or video monitor for displaying images captured by an image sensor assembly of contents within a cavity defined thereby. In various embodiments, the controller PCBA is connected to the sensor assembly and data cable 22', which in turn is connected to a computer or video monitor for displaying video images captured by the image sensor 43' and processed by a microcontroller on the controller PCBA 20'. The scope 10' has a scope field of view that matches or is aligned with the longitudinal axis of the elongated shaft. At the distal end of the scope are the lens 45' and the image sensor 43' that are positioned perpendicular or orthogonal to the centerline or longitudinal axis of the elongated shaft. In various embodiments, the handle 12' is curved or contoured to fit ergonomically in the hand of a user, e.g., a trainer or practicing surgeon. In operation, the user holds the handle 12' steady as they navigate the surgical simulation scope, and in particular the elongated shaft 14' connected thereto. Any rotation of the handle 12' rotates the elongated shaft 14' and / or the entire surgical simulation scope 10'.

[0055] The elongated shaft 14' is connected to the distal end of the handle 12' and includes a sidewall having a cylindrical shape that defines a lumen. The shaft 14' includes a proximal end and a distal end with a lumen extending between the ends. The distal end of the elongated shaft 14' includes a distal opening and is positioned to receive and accommodate the optical housing 40'. The proximal end of the shaft 14' is connected to the handle 12' and includes a proximal opening such that the lumen of the shaft 14' opens into the interior or cavity of the handle 12'.

[0056] In various embodiments, the proximal end of the elongated shaft 14' is connected to the handle 12' through a machined hole that interfaces with a molded pin in the handle 12'. The elongated shaft 14' has a machined keyway positioned to interface with a molded rib in the handle 12'. In various embodiments, a dual-purpose clamp 23' is provided to secure the elongated shaft 14' to the handle 12'. The dual-purpose clamp 23' is a metal clamp secured around the proximal end of the elongated shaft 14' to ground the elongated shaft 14' to the controller PCBA 20'. The diameter of the elongated shaft 14' is between about 3 mm and 15 mm. The outer diameter is sized to fit inside a correspondingly sized trocar. The elongated shaft is manufactured from stainless steel and / or formed as a monolithic structure. In various embodiments, the elongated shaft 14' has a fixed or non-adjustable length and / or is not bendable. In various embodiments, the elongate shaft 14' is straight and extends along a longitudinal axis and / or is aligned with the handle 12'.

[0057] In various embodiments, an optical assembly or housing 40' is positioned inside the endoscope 10' and connected to the elongated shaft 14'. The optical housing 40' is attached to the distal end of the elongated shaft 14' such that the active area of ​​the image sensor 43' is aligned with the lens 45', thereby ensuring that unintended image cropping or shading is avoided. The optical housing 40' includes an optical mount 44' and / or an optical floor 42' that are connected and aligned with each other. The optical mount 44' and / or the optical floor 42' are disposed perpendicular to the longitudinal axis of the elongated shaft 14'. In various embodiments, a dowel pin or core pin 501' extends between and connects the optical floor 42' and the elongated shaft 14'. In various embodiments, the optical floor 42' includes through holes positioned to receive dowel pins, core pins, or cross pins 501' that interface with the elongated shaft 14' to retain and / or secure the optical floor, optical mount, and / or optical housing within the elongated shaft and clock the elongated shaft into a proper or defined orientation. In various embodiments, for example, as shown in FIG. 28, the optical floor 42' interfaces with the elongated shaft 14' without the use of dowel pins, core pins, or cross pins to retain and / or secure the optical floor, optical mount, and / or optical housing within the elongated shaft. In various embodiments, alternatively or additionally, the optical floor, optical mount, and / or optical housing are glued to the elongated shaft 14'. In various embodiments, for example, as shown in FIGS. 27A-27B, the optical mount has one or more protrusions or keys 58' that are positioned to interface with one or more corresponding slots or notches in the elongated shaft 14' to clock the optical mount relative to the elongated shaft. In various embodiments, the optical housing, optical mount, and / or optical floor are clocked and secured within the elongated shaft such that the optics are aligned in the same upward orientation as the handle. In various embodiments, the elongated shaft is clocked relative to the handle through arranging slots therein to interface with ribs in the handle.

[0058] The optical mount 44' is sized and shaped to fit within the lumen of the elongated shaft 14'. The optical mount 44' is wholly or partially cylindrical with a proximal face or wall and / or a distal face or wall, both perpendicular to the longitudinal axis of the elongated shaft 14', and connected to one another by a wholly or partially cylindrical sidewall. Thus, the proximal and distal walls are parallel to one another. The optical mount 44' receives and secures the image sensor 43', a light emitting diode (LED) 47', a lens 45', and an optical cover 46'. The optical mount has a pocket in the proximal wall for receiving and securing the image sensor 43'. In various embodiments, the image sensor 43' is mounted on a printed circuit board assembly (PCBA), and in various embodiments, the pocket or cavity of the optical mount is sized and shaped to receive and secure the image sensor PCBA as well as the image sensor 43'. In various embodiments, the image sensor PCBA is hexagonal to minimize the space it occupies within the optical housing, and in various embodiments, the pocket in the optical mount is hexagonal. Additionally, the pocket has an opening extending therethrough through the distal wall. The opening is positioned to receive and secure the lens 45' and the optical cover 46'. This positioning ensures that the image sensor 43', and in particular its active area, is aligned with the lens 45' and / or the optical cover 46' for optimal image capture. In various embodiments, the opening is threaded and the lens has corresponding threads, whereby a threaded engagement between the two allows adjustment of the lens for an effective working distance. In various embodiments, the optical mount 44' has a counterbore 56' at the opening or its distal end, and in various embodiments, the counterbore simplifies assembly, aids in positioning the lens in the threaded opening, and facilitates starting on very thin or small threads.

[0059] In various embodiments, the lens 45' is circular in shape and / or has a wide field of view and a wide depth of field. In various embodiments, the lens has a 91.5 degree field of view and a depth of field of 1" to 4" (and in various embodiments 1" to 7") from the front or distal end of the optical housing and / or the distance from the lens 45' to the image sensor 43'.

[0060] In various embodiments, the optical cover 46' is optically transparent and positioned to protect the lens and filter out near IR wavelengths that provide red color in the image, e.g., near IR wavelengths near and / or above 700 nm. In various embodiments, the optical cover comprises a near IR cutoff filter near 700 nm. In various embodiments, the near IR cutoff filter is positioned between the lens 45' and the image sensor 43', and / or the optical cover 46' lacks a filter and remains optically transparent and protects the lens. In various embodiments, the optical cover 46' is scratch resistant and durable. In various embodiments, the optical cover 46' is made of borosilicate glass, which provides a highly durable material that avoids scratches and / or potential damage. In various embodiments, the optical cover 46' includes or is coated with an IR blocking material or coating that prevents the transmission of IR light that may result in a red-hued image due to, for example, proximity to a window or sunlight.

[0061] In various embodiments, the optical cover 46' is positioned and / or secured with an adhesive in a counterbore 56' in front of the lens 45'. In various embodiments, a UV-curable adhesive is used that cures clear and prevents it from affecting the lens and / or optical cover and the light or image passing therethrough. In various embodiments, the counterbore 56' is deeper than the thickness of the optical cover so that the optical cover recesses into the optical mount, thereby improving protection of the cover during, for example, a drop, and minimizing potential scratches. In various embodiments, the optical mount has a counterbore 56' and / or a countersink or chamfered surface 57' at the entrance or distal end of its opening.

[0062] A pocket or cavity in the optical mount 44' is also provided in the distal wall to receive and secure the LED 47'. In various embodiments, the LED 47' is recessed from the face or distal wall of the optical mount, which improves protection of the LED 47' and can reduce or avoid contact and / or snagging of the trocar, access device, and / or simulated tissue during use. In various embodiments, the optical mount has a pocket in the proximal wall to receive and secure the LED 47'. In various embodiments, the LED 47' is mounted on a printed circuit board assembly (PCBA), and in various embodiments, the pocket or cavity of the optical mount is sized and shaped to receive and secure the LED PCBA as well as the LED 47'. The optical mount 44' further has a channel or opening connected to the pocket for receiving, securing, and routing the LED and / or wires 49' extending from the LED PCBA. In various embodiments, the optical floor 42' also has channels, slots, or is specially shaped to receive, secure, and route wires 49' extending from the LEDs 47' and align with the optical mount channels. The wires 49' extend through the elongated shaft 14' and into the handle 12'. The wires 49' connect to a controller PCBA 20' located in the handle 12'. In various embodiments, other openings or cavities are provided to aid in manufacturing and assembling optical mounts and / or optical housings into the elongated shaft 14' and / or optical floor 42'.

[0063] In various embodiments, the optical mount 44' has a distally facing protrusion or step 48' that is positioned to interface with a surface at the distal end of the elongated shaft 14' to clock the optical mount relative to the elongated shaft. Additionally, the step 48' absorbs shock and protects the elongated shaft in the event of an accidental drop. Thus, in various embodiments, the step 48' positioned on the edge or distal end of the elongated shaft improves protection of the elongated shaft during a potential drop, reducing or avoiding bending and / or the formation of sharp edges, for example. In various embodiments, the optical mount is seated or located at the tip of the elongated shaft, and in various embodiments is the most distal end of the scope. In various embodiments, the step 48' of the optical mount and / or the positioning of the optical mount forward or at the tip of the distal end of the elongated shaft reduces deformation, denting, and / or shearing of the elongated shaft, for example, due to an unwanted drop or impact. In various embodiments, the step 48' has a thickness of about 1 mm to 2 mm, and in various embodiments, 1.5 mm.

[0064] The optical mount 44' has one or more distally facing protrusions or legs, for example, three legs in the illustrated embodiment, that are positioned to interface with one or more channels in or walls on the optical floor 42' to ensure that the optical mount 44' and optical floor fit concentrically into the lumen of the elongated shaft and to aid in securing and aligning the optical mount 44' with the optical floor 42'. In various embodiments, the optical mount 44' and optical floor 42' are adhesively secured to one another.

[0065] The optical floor 42' is sized and shaped to fit within the lumen of the elongated shaft 14'. The optical floor 42' is generally hemispherical or partially cylindrical with proximal and distal faces or walls, both disposed perpendicular to the longitudinal axis of the elongated shaft 14', connected to one another by a generally or partially cylindrical sidewall. Thus, the proximal and distal walls are parallel to one another. Similarly, the proximal and distal walls of the optical floor and the proximal and distal walls of the optical mount are parallel to one another. The optical floor 42' is sized and configured to provide a backing or support for the image sensor 43' and / or the image sensor PCBA. In various embodiments, a compressible material or component, e.g., a gasket 53, for providing back pressure to an image sensor disposed on the optical mount is disposed between the optical mount 44' and the optical floor 42'. In various embodiments, the image sensor is bonded to the optical mount. The optical floor 42' further includes channels or slots sized and shaped to receive, secure, and route wires and / or ribbon cables 41 extending from the image sensor 43'. The ribbon cables 41 extend through the elongated shaft 14' and into the handle 12'. The ribbon cables 41 connect to a controller PCBA 20' disposed in the handle 12'. The ribbon cables 41 transmit the image sensor's image feed or raw image data from the image sensor 43' to the controller PCBA 20'. In various embodiments, the controller PCBA 20' includes one or more connectors that are connected to the wires 49' and / or ribbon cables 41 and disposed to transmit / receive data and / or power therethrough. According to various embodiments, the image sensor microcontroller and power supply are all part of the controller PCBA 20', e.g., integrated and / or attached thereto. In various embodiments, the optical floor 42' is optional, and thus, connections or features of the optical mount 44' utilized to interface with the optical floor can be omitted.

[0066] The LEDs 47' are placed on a PCB with two through holes. Wires or leads are soldered to these through holes to transmit power to the LEDs through the elongated shaft 14'. In various embodiments, the wires or leads are soldered directly to the LEDs and / or LED PCBA and run through the elongated shaft 14' to a controller PCBA housed in the handle. In various embodiments, the wires or leads are attached perpendicular to the LEDs and / or LED PCBA through the through holes to reduce any bends and / or potential break points. The LEDs 47' are placed near the outer or distal face or outer diameter of the wall of the optical mount 44' and away from the lens 45' to maximize the distance between the two and / or the wall thickness of the optical mount between them as highlighted by circle 55, preventing or avoiding any noticeable lens flare. In various embodiments, the space behind the LEDs is blocked with glue, wax, or other similar opaque material, and / or the lumen of the elongated shaft generally or near and / or around the optical housing includes or is coated with a non-reflective material to further help prevent any noticeable lens flare or halo. In various embodiments, a black or opaque adhesive bonds the LEDs to the optical mount, and in various embodiments is placed along an edge behind or proximal to the LEDs to prevent light from the LEDs from traveling back into the elongated shaft and / or image sensor. In various embodiments, the optical cover is also isolated from the LEDs 47' by and / or by placement or positioning on the optical mount, such that the LEDs are prevented from illuminating the optical cover, e.g., resulting in undesirable reflections or image distortion. In various embodiments, a light-blocking wall, e.g., a plastic and / or opaque wall, is placed on the optical mount 44' between the LEDs and the lens and / or optical cover to enhance light blocking between the LEDs and the lens and / or optical cover.

[0067] The image sensor 43' is a CMOS (Complementary Metal Oxide Semiconductor). The image sensor 43' converts light into electrical signals that can be processed to generate an image. The image sensor microcontroller is attached to the controller PCBA 20', processes the raw image sensor data, and outputs the image through USB communication. In various embodiments, the data cable 51' is a USB cable or a USB to micro USB cable.

[0068] Any part of the organ model or training model according to various embodiments can be made of one or more organic based polymers including, but not limited to, hydrogels, single polymer hydrogels, multipolymer hydrogels, rubber, latex, nitrile, proteins, gelatin, collagen, soy, thermoplastic elastomers, non-organic based polymers such as KRATON polymers, silicones, foams, silicone based foams, urethane based foams, and ethylene vinyl acetate foams. Within any matrix polymer, one or more fillers can be used, such as cloth, woven or non-woven, polyester, nylon, cotton, and silk, conductive fillers such as graphite, platinum, silver, gold, copper, various additives, gels, oils, cornstarch, glass, dolomite, carbonate minerals, alcohol, sound deadening paints, silicone oils, pigments, foams, poloxamers, collagen, and gelatin. Adhesives used can include, but are not limited to, cyanoacrylates, silicones, epoxies, spray adhesives, and rubber adhesives.

[0069] In order for a surgical simulation scope or angled scope according to various embodiments of the present invention to be suitable or effective for training or simulation purposes, the scope must meet one or more certain criteria. For example, in various embodiments, the ergonomics of the scope are similar to a surgical grade scope. In various embodiments, the size and shape of the handle, the length of the shaft, and the weight of the scope are close to those of a surgical grade scope. Similarly, in various embodiments, the surgical simulation angled scope or scope is operable with one hand. In various embodiments, the scope can withstand accidental bumps and drops without breaking and losing functionality. Similarly, to allow a user to learn and become familiar with medical device trocars and the like, in various embodiments, the surgical simulation scope is sized and configured to accommodate and fit inside the medical device trocars used in surgery. There are generally two sizes of trocars that are used as ports to pass the scope to the surgical site, 10 mm and 5 mm. Thus, the surgical simulation scope according to various embodiments accommodates at least either 10 mm and / or 5 mm trocars.

[0070] The surgical simulation scope according to various embodiments does not need to be manufactured to withstand repeated sterilization, cleaning, and autoclaving cycles. Thus, the scope can be less expensive. Although lighting on the scope may be required for certain procedure simulations, in some cases, the light source at the tip of the scope can be supplemented by other light sources provided inside the cavity of the box trainer. Thus, the lighting requirements for the surgical simulation scope are reduced, which can further reduce the manufacturing cost of the scope. Similarly, in terms of optical performance, the surgical simulation scope according to various embodiments sacrifices some image quality by using less expensive components and a simple lens assembly design, and may include some distortion at the edges of the image. Overall, the image quality should be sufficient to provide an adequate amount of detail to distinguish subtle differences in the simulated anatomy. The image quality and tip lighting requirements for the surgical simulation scope are less stringent than those for surgical grade scopes, and there are no sterility requirements, so the cost can be kept lower than that of surgical grade scopes. A surgical simulation endoscope according to various embodiments has a balance of high quality images, working distance and depth of field, low cost, and / or robustness that lasts over multiple uses. These desired attributes may be related, and optimal design of the endoscope for one may make it difficult to satisfy another attribute.

[0071] The surgical simulation endoscope according to various embodiments is suitable for use in laparoscopic trainers for educating and training medical professionals and medical students. The surgical simulation endoscope according to various embodiments provides significant improvements that may also be used in surgical grade endoscopes.

[0072] In various embodiments, a surgical simulation scope is provided that includes at least one of an optical mount and / or an optical floor, and in accordance with various embodiments, other embodiments described throughout this specification, portions of such embodiments, and / or any combination of these embodiments may be combined with such a surgical simulation scope. In various embodiments, the surgical simulation scope further includes at least one of a handle, an elongated shaft, an image sensor, an adapter PCBA, and a lens. In various embodiments, the surgical simulation scope includes an optical housing, a handle, an elongated shaft, an image sensor, a lens, an adapter PCBA, or any combination thereof.

[0073] In various embodiments, the scope has an elongated shaft 14, 14' connected at its proximal end to a handle 12, 12'. The shaft is long enough so that the distal end of the scope, which is the image acquisition end, is located inside the body cavity while the handle is outside the patient's body. The scope includes an image sensor positioned behind a lens. The image sensor is connected to a controller printed circuit board assembly (PCBA) that includes a microcontroller configured to process data obtained thereby. The PCBA can be connected to a monitor or other device wirelessly or with a wire or cable, etc. In various embodiments, a first data cable extends from the simulated camera head to transmit the encoder data from the encoder 26, and a second data cable extends toward the simulated scope housing to transmit the image data from the image sensor 43. These data cables connect to the controller PCBA directly or through a USB hub. A light, such as an LED or fiber optic light source, is included and connected to the scope to transmit light through one or more optical fibers to the distal end of the scope to illuminate the surgical field. One or more lenses are included in the optical assembly to focus the light reflected from the surgical site.

[0074] In various embodiments, the handle 12 defines an interior or cavity disposed to accommodate the adapter PCBA and the encoder. The adapter PCBA is connected to the image sensor PCBA and the simulated optical cable 21. The simulated optical cable is connected to a controller box. The controller box is connected to a surgical trainer, and in various embodiments to a computer or processor and / or video display or monitor integrated into or attached to the surgical trainer. The elongated shaft 14, 14' is connected to a distal end of the handle 12, 12'. To connect the image sensor to the adapter PCBA 20, 20', the lumen of the elongated shaft 14, 14' opens into the handle 12, 12'. In various embodiments, the level of the simulated camera head 30 is maintained while the simulated endoscope housing 20 is rotated. In various embodiments, the major or overall outer diameter or cross-sectional area of ​​the simulated endoscope housing 20 is smaller than the overall outer diameter or cross-sectional area of ​​the simulated camera head 30, and the simulated endoscope housing 20 is distinct from the simulated camera head 30. In various embodiments, the mock endoscope housing 20 is rotatable relative to the mock camera head 30 by adjusting or rotating the mock optical cable relative to the mock camera head. In various embodiments, the elongated shaft 14 rotates with the mock endoscope housing 20. In various embodiments, the mock endoscope housing has no rotational limits relative to the mock camera head and no mechanical stops between them.

[0075] According to various embodiments, the pocket in the optical mount 44, 44' has a known depth, and when the image sensor 43, 43' is placed in the pocket, it is positioned radially relative to the elongated shaft 14, 14'. The depth of the pocket in the optical mount 44, 44' has a predetermined distance to the front of the optical mount. This distance substantially meets all requirements for magnification, working distance, and depth of field. Any tolerances found in the image sensor or its electronics are accommodated by the change in the distance between the optical mount 44, 44' and / or the optical floor 42, 42' as they sandwich the image sensor 43, 43' and electronics. This simplifies assembly since these components only fit together in one direction, with the image sensor 43 always at a known distance from the end of the optical mount 44, 44'. This makes it easier to adjust the optical housing 40 to optically tune the system. Otherwise, the need to tune the optics may change from assembly to assembly as the individual components have associated tolerances. When placed relative to other components, these tolerances can accumulate and make adjustments difficult, resulting in a defocused image. Adjustments are also necessary because the distance from the back surface of the lens to the image sensor affects magnification, working distance, and depth of field. The scope 10, 10' according to various embodiments mitigates the tolerance accumulation problem. According to various embodiments, the optical housing is configured to ensure that the location of the image sensor remains within the focal depth of the lens while not damaging the image sensor.

[0076] In various embodiments, the optical floor and / or the optical mount include one or more openings, slots, or holes positioned to route and / or secure wires or connections extending from the LED to the handle. In various embodiments, the optical floor and / or the optical mount include one or more openings, slots, or holes positioned to route and / or secure wires, ribbon cables, or connections extending from the image sensor to the handle. In various embodiments, the optical floor and / or the optical mount include corresponding dovetails to facilitate and ensure connection to one another.

[0077] In various embodiments, a slight recess is provided at the distal end of the elongated shaft and is arranged to be pressed inward to secure the optical housing in place with the deformed material, recess, or distal portion of the elongated shaft. In various embodiments, an elongated lasso is provided to secure the optical housing in the elongated tube. In various embodiments, the lasso comprises a cable, thread, rope, string, wire, or the like, which is tied or wrapped around a portion or circumference of the optical housing to apply an axial preload along the length of the tube by connecting the lasso or tether to the scope housing and / or to the distal end of the elongated tube. In various embodiments, the optical mount comprises a channel or slot around its outer edge, circumference, or each portion thereof, in which the distal end of the lasso or tether, ring, loop, hoop, or the like is disposed or attached. A lasso or tether, e.g., a line or cord, which may include an LED lead or wire, extends back through the channel or slot in the optical mount and extends along the length of the tube to the handle.

[0078] In various embodiments, the optical floor is eliminated or not used, and thus an optical mount is used to longitudinally and laterally position the lens, image sensor, and LED. In various embodiments, using only an optical mount can simplify assembly without compromising functionality. Thus, in various embodiments, the optical mount becomes the optical housing and is used to longitudinally and laterally position all distal end components of the endoscope within the elongated shaft.

[0079] In various embodiments, the optical housing, optical mount, and / or optical floor are disposed within a lumen of an extension tube having a length shorter than the elongated shaft, and the extension tube is connected to the elongated shaft by screws, adhesives, and / or ultrasonic welding for ease of manufacture. In various embodiments, a stepped or rolled front or distal end is provided at the most distal end of the elongated shaft to apply a load to the optical housing, optical mount, and / or optical floor from the rear or proximal end of the elongated shaft and keep the optical housing, optical mount, and / or optical floor safe and protected. In various embodiments, the optical housing, optical mount, and / or optical floor are disposed to seat or be positioned within the elongated shaft, and the elongated shaft is rolled or stepped after the optical housing, optical mount, and / or optical floor are loaded from the front or distal end of the elongated shaft. In various embodiments, the elongated shaft comprises or is manufactured of a non-metallic material to facilitate or simplify joining or securing the optical housing, optical mount, and / or optical floor to the elongated shaft. In various embodiments, the optical housing, the optical mount, and / or the optical floor include threads configured to mate with corresponding threads in the elongate shaft.

[0080] In various embodiments, a light source is disposed or attached to the handle and a light tube extends from the handle through the elongate tube to the distal end of the elongate shaft to transmit light through the elongate shaft tube to the distal end of the elongate shaft. In various embodiments, the light tube is insulated, coated, and / or covered with an opaque material. In various embodiments, the light tube replaces the light emitting diodes and associated wires and reduces the amount of light that can be transmitted back along the elongate shaft and / or to the image sensor.

[0081] In various embodiments, the controller printed circuit board assembly (PCBA) 20 is located inside a controller box 50 that is connectable to the handle 12 of the endoscope 10. The controller box 50 is connectable, wirelessly or through a data cable 51, such as a USB cable, to a computer and / or video monitor attached to or integrated into a surgical trainer 60 and configured to process and display the captured video images. In various embodiments, the controller PCBA and / or a controller or processor in or attached to the surgical trainer uses the rotation data to determine the amount of rotation needed to rotate the raw image and display the rotated image on a screen or monitor, for example, a screen attached to or integrated with the surgical trainer.

[0082] The optical performance of the surgical simulation scope is similar to that of a surgical grade scope with respect to certain characteristics. These characteristics include, but are not limited to, working distance, depth of field, field of view, image color, and / or image quality. Image quality can include the clarity of the video image in terms of pixel resolution and the corresponding frames per second (fps) of the video feed. The surgical simulation scope according to various embodiments provides an image quality of about 640x480 to 720x1024 at about 24-60 fps. With respect to image color, the surgical simulation scope according to various embodiments provides an approximation of the actual color of the object when viewed with the naked eye. Thus, the lighting used at the tip of the scope should not distort the color of the organ model so as not to detract from the realism of the simulation. The working distance is the distance from the lens to the optimal focal plane, which is the plane of best focus. The depth of field is defined as the distance in both directions away from the optimal focal plane at which the image is still in focus. The depth of field should be as wide as possible. The field of view is defined as the area within the displayed image at the working distance. These and other characteristics work together to generate an image suitable for a surgical simulation scope according to various embodiments. Similarly, these parameters can provide an image, size, magnification, and / or other similar characteristics that correspond to a surgical grade scope so that the trainee is not surprised when switching from the surgical simulation scope to the use of a surgical grade angled scope or scope.

[0083] The above description is provided to enable any person skilled in the art to make and use the above-mentioned surgical simulation endoscope and to carry out the methods described herein, and lists the best mode contemplated by the inventors of carrying out the invention. However, various modifications may still be apparent to those skilled in the art. These modifications are considered to be within the disclosure of the present invention. Different embodiments or aspects of such embodiments may be shown in various figures and described throughout the specification. However, it should be noted that although shown or described separately, each embodiment and its aspects may be combined with one or more of the other embodiments and its aspects, unless expressly stated otherwise. The reason for not explicitly listing each combination is merely to facilitate reading of the specification.

[0084] While the present invention has been described in certain specific embodiments, it is believed that many additional modifications and variations will be apparent to those skilled in the art. It is therefore to be understood that the present invention can be practiced other than as specifically described, including various changes in size, shape, and materials, without departing from the scope and spirit of the invention. That is, the present embodiments are to be considered in all respects as illustrative and not restrictive.

Claims

1. a handle having an endoscope housing and a camera head having a different shape from the endoscope housing; an elongated shaft having a proximal end, a distal end, and a longitudinal axis extending between the proximal end and the distal end, the proximal end being fixedly attached to the scope housing, the distal end comprising an optical mount having a proximal portion having a pocket therein, the elongated shaft and the scope housing being rotatably attached to the camera head; a simulated optical cable fixedly attached to the endoscope housing and extending from the endoscope housing, the simulated optical cable being positioned such that it cannot be connected to a light source; a lens disposed within the optical mount and tilted at a predetermined angle less than 90 degrees relative to the longitudinal axis; an image sensor disposed within the pocket of the optical mount, the image sensor having a distal surface facing the distal end of the elongate shaft and inclined at the predetermined angle relative to the longitudinal axis; A surgical simulation endoscope.

2. The endoscope of claim 1 , further comprising a data cable and a controller box connected to the simulated optical cable and the data cable, the controller box enclosing a controller connected to the simulated optical cable and the data cable.

3. The endoscope of claim 2 further comprising a surgical trainer having a processor connected to the data cable.

4. The endoscope of claim 1 , wherein the camera head comprises a proximal portion comprising a simulated camera head housing and a distal portion comprising a simulated coupler.

5. 5. The endoscope of claim 4, wherein the simulated camera head housing is curved and includes one or more flat surfaces arranged to facilitate grasping and holding the simulated camera head housing stationary while the endoscope housing is rotated.

6. 6. The endoscope of claim 4 or claim 5, wherein the mock camera head housing has a tapered tail terminating below a horizontal centerline, and the mock coupler has an enlarged circumferential ridge positioned to distinguish the mock camera head from the endoscope housing.

7. The endoscope of any one of claims 4 to 6, wherein the endoscope housing comprises a proximal portion comprising a rotating barrel and a distal portion comprising an adapter housing, the camera head encases the rotating barrel, and the mock coupler is disposed between the mock optical cable and the proximal end of the camera head.

8. 8. The endoscope of claim 7, further comprising an adapter circuit fixedly connected to said simulated optical cable and enclosed within said adapter housing.

9. 9. The endoscope of claim 1, wherein the simulated optical cable extends perpendicular to the longitudinal axis along a portion of the endoscope housing that extends perpendicular to the longitudinal axis.

10. 10. The endoscope of claim 1, wherein the simulated optical cable is a USB (trademark) or HDMI (registered trademark) cable.

11. The endoscope of any one of claims 7 to 10, wherein the simulated camera head housing includes one or more internal ribs that contact the simulated camera head housing and provide one or more bearing surfaces for the rotating barrel to rotate within the simulated camera head housing relative to the simulated camera head housing.

12. 12. The endoscope of claim 1, further comprising a friction interface disposed between the endoscope housing and the camera head and configured to prevent inadvertent rotational movement between the endoscope housing and the camera head.

13. 13. The endoscope of claim 8, further comprising an encoder disposed within a cavity defined by the rotating barrel, the encoder comprising an encoder shaft extending through an opening in a proximal end of the rotating barrel and fixedly secured to the camera head.

14. 14. The endoscope of claim 13, wherein the encoder is an absolute encoder and is connected to the adapter circuitry within the adapter housing through wires extending through a connector housing disposed between the rotating barrel and the adapter housing.

15. 15. The endoscope of claim 14, wherein the encoder provides rotation data to the adapter circuit, and the adapter circuit provides the rotation data to the controller through the simulated optical cable.

16. 16. The endoscope of claim 1, wherein the elongate shaft has a non-adjustable length and is non-bendable.

17. 17. The endoscope of claim 1, wherein the optical mount has a distal surface facing the distal end of the elongate shaft and inclined at the predetermined angle relative to the longitudinal axis, and the optical mount has a proximal surface facing the proximal end of the elongate shaft and inclined at the predetermined angle relative to the longitudinal axis.

18. 18. The endoscope of claim 17, further comprising an optical floor disposed within the distal end of the elongate shaft and positioned adjacent to the optical mount, the optical floor having a distal surface facing the distal end of the elongate shaft and inclined at the predetermined angle relative to the longitudinal axis, the optical floor having a proximal surface facing the proximal end of the elongate shaft and inclined at the predetermined angle relative to the longitudinal axis, the optical mount having a dovetail facing proximally and positioned to interface with a slot in the optical floor, and the optical mount having a protrusion facing proximally and positioned to interface with an inclined surface at the distal end of the elongate shaft.

19. the lens has a distal surface facing the distal end of the elongate shaft and inclined at the predetermined angle relative to the longitudinal axis; The endoscope further comprises: an optical cover disposed within the optical mount, the optical cover having a distal surface facing the distal end of the elongate shaft and inclined at the predetermined angle relative to the longitudinal axis; Equipped with The endoscope further comprises: a light emitting diode disposed within the optical mount, the light emitting diode having a distal surface facing the distal end of the elongate shaft and inclined at the predetermined angle relative to the longitudinal axis; Equipped with 19. An endoscope according to any one of claims 1 to 18.

20. A handle and a cylindrical elongate shaft having a proximal end coupled to the handle and a distal end comprising a cylindrical optical mount; a cylindrical lens disposed within the cylindrical optical mount; a light emitting diode disposed within the cylindrical optical mount proximate the cylindrical lens, the light emitting diode having a flat distal surface facing a distal-most end of the cylindrical elongate shaft and coupled to one or more wires extending proximally and terminating within the handle; an image sensor disposed within a pocket of the cylindrical optical mount and between the cylindrical lens and a ribbon cable attached to the image sensor, the ribbon cable extending proximally and terminating within the handle; A surgical simulation endoscope.

21. 21. The endoscope of any one of claims 1 to 18 or claim 20, further comprising an optical cover arranged to be positioned next to the lens to protect the lens.

22. 22. The endoscope of claim 21, wherein the optical cover is optically transparent and configured to filter out near infrared wavelengths.

23. 23. The endoscope of claim 21 or claim 22, wherein the optical cover is positioned to fit within an opening in the optical mount in which the lens is disposed and is positioned within a counterbore in front of the lens, the counterbore being deeper than the thickness of the optical cover.

24. 24. An endoscope according to any one of claims 1 to 18 or claims 20 to 23, further comprising a light emitting diode disposed in a square cavity in the optical mount and one or more wires connected to the light emitting diode, the one or more wires being to the handle and disposed in a channel in the optical mount, the channel being connected to the square cavity in the optical mount.

25. the light emitting diode is positioned near an outer diameter of the optical mount; the optical mount having a wall disposed between the light emitting diode and the lens, the light emitting diode having a square shape and connected to a printed circuit board assembly.

25. An endoscope according to claim 19 or claim 24.

26. 26. The endoscope of any one of claims 1 to 25, wherein the optical mount has one or more protrusions arranged to interface with one or more corresponding notches in the elongated shaft to clock the optical mount relative to the elongated shaft, and the optical mount is clocked within and secured to the elongated shaft in that the lens and image sensor are aligned in the same upward orientation as the handle.

27. 27. The endoscope of any one of claims 1 to 26, wherein the elongated shaft is clocked relative to the handle through slots in the elongated shaft positioned to interface with ribs in the handle.

28. 28. The endoscope of claim 1, wherein the pocket of the optical mount has a depth that is less than a thickness of the image sensor, the optical mount has a threaded portion, and a lens mount includes the lens, the lens mount configured to be screwed into the threaded portion of the optical mount.

29. 29. The endoscope of any one of claims 1 to 28, further comprising a ribbon cable connected to the image sensor and extending to the handle.

30. 30. The endoscope of claim 29, wherein the ribbon cable is configured to provide power to the image sensor and to supply data from the image sensor to circuitry within the handle.

31. 31. The endoscope of claim 30, wherein the circuitry comprises an image sensor microcontroller and a power supply is integrated into the controller.

32. 32. The endoscope of claim 31 , wherein the handle has a body curved relative to the longitudinal axis of the elongate shaft and defines an interior configured to accommodate the controller, and further comprising a data cable connecting the handle and the controller to a processor disposed outside the handle.

33. 33. The endoscope of claim 32, further comprising a video display attached to the surgical trainer that displays images captured by the image sensor and processed by the image sensor microcontroller of the controller of contents within a cavity defined by the surgical trainer.

34. 31. An endoscope according to any one of claims 2 to 19 or claims 21 to 30, wherein the controller receives camera images from the image sensor and rotation data from the absolute encoder.

35. 35. The endoscope of claim 34, further comprising a processor connected to the controller through the data cable, the processor configured to utilize the rotation data to rotate the camera image and to transmit the rotated camera image to a display screen of a surgical trainer.

36. 36. The endoscope of claim 35, wherein the processor is configured to crop the rotated camera image to a predetermined circular shape before transmitting the rotated camera image to the display screen.

37. 37. The endoscope of claim 36, wherein the predetermined circular shape has a diameter equal to a height of the camera image received from the image sensor.

38. 38. The endoscope of claim 36 or claim 37, wherein the predetermined circular shape has curved sides between a flat top edge and a flat bottom edge.

39. 39. The scope of claim 38, wherein the flat top edge matches a flat top edge of the display screen and the flat bottom edge matches a flat bottom edge of the display screen.

40. 31. The endoscope of any one of claims 2 to 19 or claims 21 to 30, wherein the controller comprises an image sensor microcontroller, an encoder microcontroller, a power supply, and a USB hub.

41. 41. The endoscope of claim 40, further comprising a video display attached to the surgical trainer that displays images captured by the image sensor and processed by the image sensor microcontroller of the controller of contents within a cavity defined by the surgical trainer.

Images