Image capture device with reduced fogging

Abstract

Image capture devices that reduce fogging are disclosed. An image capture device includes an elongate body, an imaging window coupled to a distal end of the elongate body, and a heat source within the elongate body. The heat source is configured to apply heat to the imaging window to remove condensation formed on the imaging window or prevent condensation from forming on the imaging window.

Description

[0001] This application is a divisional application of Chinese Patent Application 201780058807.2 (PCT / US2017 / 056595), filed on October 13, 2017, entitled “Image Capture Apparatus for Reducing Fog”.

[0002] Related applications

[0003] This patent application claims priority and benefit to U.S. Provisional Patent Application 62 / 408,332, filed October 14, 2016, entitled “IMAGE CAPTURE DEVICE WITHREDUCED FOGGING”, the entire contents of which are incorporated herein by reference. Technical Field

[0004] This disclosure relates to an image capture apparatus for performing image guidance procedures, and more specifically to a system and method for maintaining visibility when the image capture apparatus is inserted into a patient. Background Technology

[0005] Medical robotic systems, such as remote operating systems used to perform minimally invasive surgical procedures, offer numerous advantages over traditional open surgery techniques, including less pain, shorter hospital stays, faster return to normal activities, minimal scarring, shorter recovery times, and less tissue damage. Consequently, the demand for such medical remote operating systems is strong and continues to grow.

[0006] Examples of medical remote operating systems include da from Intuitive Surgical in Sunnyvale, California. Surgical systems and da S TM Surgical systems. Each of these systems includes a surgeon's console, a patient-side trolley, a high-performance three-dimensional (“3-D”) vision system, and Intuitive Surgical's proprietary technology. Articulated instruments, modeled after the human wrist, allow their end effectors at least six degrees of freedom when added to the manipulators that hold surgical instruments in place. This is comparable to or even greater than the natural movements of open surgery. During medical procedures, it is useful to observe real-time two-dimensional or three-dimensional images of the surgical site captured by an image-capturing device located within the patient's anatomy. Typically, the imaging window of the device becomes fogged up due to environmental conditions within the patient's anatomy. An image-capturing device is needed to reduce condensation on the window to allow for the recording of clear images. Summary of the Invention

[0007] Embodiments of the invention are fully summarized by the claims accompanying the specification.

[0008] In some examples, the image capturing device includes an elongated body, an imaging window coupled to the distal end of the elongated body, and a heat source within the elongated body. The heat source is configured to apply heat to the imaging window to remove condensation from the imaging window or prevent condensation from forming on the imaging window.

[0009] In some examples, the image capturing device includes an elongated body, an imaging window coupled to the distal end of the elongated body, and an ultrasonic transducer within the elongated body. The ultrasonic transducer is configured to apply ultrasonic energy to the imaging window.

[0010] In some examples, the image capturing device includes a first elongated body portion formed of a first material and a second elongated body portion coupled to a proximal end of the first elongated body portion. The second elongated body portion is formed of a second material having a higher thermal conductivity than the first material. The image capturing device also includes an imaging window coupled to a distal end of the first elongated body portion. The image capturing device also includes a first housing within the first elongated body portion, to which an image sensor is mounted. The image capturing device also includes an image processor mounted to the first housing and coupled to receive electrical signals from the image sensor. The image capturing device also includes a second housing within the first elongated body portion. The second housing is coupled to the first housing and the window such that heat generated by the image sensor and the image processor is transferred through the second housing to the imaging window.

[0011] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory in nature and are intended to provide an understanding of the disclosure without limiting its scope. In this regard, other aspects, features, and advantages of the disclosure will be apparent to those skilled in the art from the following detailed description. Attached Figure Description

[0012] Figure 1 This is a simplified diagram of an operating room employing a medical remote operating system with a medical device bundling unit, according to some embodiments.

[0013] Figure 2 This is a simplified diagram of a remote control arm assembly for holding a medical device strapping unit according to some embodiments.

[0014] Figure 3 This is a simplified diagram of the distal end of a medical device strapping unit according to some embodiments.

[0015] Figure 4 An image capture device with a heat source for removing condensation from the window of the device is shown according to some embodiments.

[0016] Figure 5 An exploded image of a heat source and a heat transfer system is shown according to some embodiments.

[0017] Figure 6 An image capture device with a heat source for removing condensation from the window of the device is shown according to some embodiments.

[0018] Figure 7 It shows Figure 6 The temperature gradient of the image capture device.

[0019] Figure 8 A simplified cross-sectional view of an image capture device using visible light as a heat source according to some embodiments is shown.

[0020] Figure 9 A simplified cross-sectional view of an image capture device using a fluid as a heat source according to some embodiments is shown.

[0021] Figure 10 A simplified cross-sectional view of an image capture device that applies fluid to the surface of a distal window according to some embodiments is shown.

[0022] Figure 11 A simplified cross-sectional view of an image capture device using infrared light as a heat source according to some embodiments is shown.

[0023] Figure 12 A simplified cross-sectional view of an image capture device using a resistive heat source according to some embodiments is shown.

[0024] Figure 13 A simplified cross-sectional view of an image capture device that uses ultrasonic energy to remove condensation from the window of the device, according to some embodiments, is shown.

[0025] Figure 14 A simplified cross-sectional view of an image capture device with a coated window according to some embodiments is shown. Detailed Implementation

[0026] Figure 1 A top view of an operating room is shown as an example, in which surgeon 20 is using a medical remote operating system 100 to perform medical procedures on patient 40 lying on operating table 50. One or more assistants 30 may be positioned near patient 40 to assist the procedure, while surgeon 20 remotely executes the procedure by manipulating controls 108, 109 on surgeon console 10.

[0027] The medical teleoperation system 100 is equipped with remote manipulator assemblies 128, 129, and 200 mounted on a patient-side trolley 120. In this example, the medical device strapping unit 300 is inserted into the patient 40 through a single access port 150. Although the access port 150 is a minimally invasive incision in this example, it can alternatively be a natural body orifice in the execution of other medical procedures. The strapping unit 300 is held and manipulated by the remote manipulator assemblies. Only the remote manipulator assembly 200 is used in this example. During the execution of this medical procedure, since the remote manipulator assemblies 128 and 129 are not used, the arm assemblies are swung outwards.

[0028] The console 10 includes a monitor 104 for displaying images (e.g., 2D or 3D images) of the surgical site to the surgeon 20, a left-hand operable control 108, a right-hand operable control 109, a foot pedal 105, and a processor 102. The control devices 108 and 109 may include any one or more of various input devices, such as joysticks, gloves, trigger guns, manual controllers, etc. The processor 102 may be a dedicated computer integrated into or located next to or near the console 10, or the processor 102 may include several processing or controller components distributed throughout the system 100 in a distributed processing manner.

[0029] The console 10 is typically located in the same room as the patient so that the surgeon can directly monitor the procedure, use it physically if necessary, and speak directly with assistant(s) rather than via telephone or other communication media. However, it should be understood that the surgeon may also be located in a different room from the patient, in a completely different building, or in another remote location, thus allowing for remote surgical procedures.

[0030] like Figure 3 As shown, the strapping unit 300 may include two surgical instruments or tools 338, 339 and an image capture device 340. Each surgical instrument 338, 339 is associated with one of the control devices 108, 109. The surgeon performs medical procedures by manipulating the control devices 108, 109, causing the processor 102 to cause corresponding movements of their respective associated surgical instruments 338, 339, while the surgeon observes the surgical site captured by the image capture device 140 in 3-D on the console monitor 104.

[0031] Control devices 108 and 109 may be provided with at least the same degrees of freedom as their associated tools 338 and 339 to provide remote presentation to the surgeon, or control devices 108 and 109 may be integrated with the perception of tools 338 and 339, giving the surgeon a strong sense of direct control over tools 338 and 339.

[0032] Monitor 104 can be positioned near the surgeon's hand such that it displays a projected image oriented so that the surgeon feels he or she is actually looking directly down at the surgical site. For this purpose, the images from tools 338 and 339 can appear to be positioned substantially where the surgeon's hand is located.

[0033] Additionally, the real-time images can be projected as perspective images, allowing surgeons to manipulate the end effectors 322 and 332 of tools 338 and 339 via their corresponding control devices 108 and 109, as if viewing a substantially real workspace. "Substantially real" means that the presented images are true perspective images simulating the viewpoint of an operator physically manipulating tools 338 and 339. Therefore, processor 102 transforms the coordinates of tools 338 and 339 to a perceptual orientation, such that the perspective images are what a technician would see if the image capture device 140 were directly behind tools 338 and 339.

[0034] The processor 102 performs various functions in the system 100. One important function it performs is to convert and transmit the mechanical movements of the control devices 108 and 109 to the remote manipulator assembly 200 via control signals on the bus 110, so that the surgeon can effectively manipulate the tools 338 and 339.

[0035] Although processor 102 is described as a processor, it should be understood that processor 102 can be implemented in practice by any combination of hardware, software, and firmware. Moreover, its functionality, as described herein, can be performed by a single unit or divided among different components, each of which can be implemented sequentially by any combination of hardware, software, and firmware. Furthermore, while processor 102 is shown as part of or physically adjacent to console 10, processor 102 may also include several sub-units distributed throughout the system, such as those mounted on patient-side cart 120 and / or remote manipulation arm assemblies 128, 129, 200, and, alternatively, printed circuit boards mounted in console 10.

[0036] For further details regarding the construction and operation of various aspects of medical telemedicine operating systems as described herein, see, for example, jointly owned U.S. Patent No. 6,493,608, “Aspects of a Control System of a Minimally Invasive Surgical Apparatus” and jointly owned U.S. Patent No. 6,671,581, “Camera Referenced Control in a Minimally Invasive Surgical Apparatus”, which are incorporated herein by reference.

[0037] As an example, Figure 2 A simplified side view (not necessarily to scale or complete) of a remote manipulator assembly 200 holding a medical device strapping unit 300 is shown. A tool guide 270 is inserted into the patient through a minimally invasive incision 150 and coupled to the remote manipulator assembly 200 via a guide support 240. The strapping unit 300 can then be inserted into the patient via the tool guide 270. The remote manipulator assembly 200 is mechanically supported by a base 201 of a patient-side trolley 120.

[0038] Links 202 and 203 are coupled together and to base 201 via horizontal set joints 204 and 205. In this example, set joints 204 and 205 are passive joints that allow manual positioning of arm 200 when the brake is released. For example, set joint 204 allows link 202 to be manually rotated about axis 206, and set joint 205 allows link 203 to be manually rotated about axis 207.

[0039] Although only two links and two setting joints are shown in this example, more or fewer links and setting joints can be appropriately used in this and other telescopic arm assemblies in conjunction with the present invention. For example, although setting joints 204 and 205 are used for the horizontal positioning of arm 200, additional setting joints can be included and used for limited vertical and angular positioning of arm 200. However, for the primary vertical positioning of arm 200, arm 200 can also be slidably moved along the vertical axis of base 201 and locked in a suitable orientation.

[0040] The remote manipulator assembly 200 also includes two active joints and several motor-driven gears. The yaw joint 210 allows the arm 230 to rotate about axis 261, and the pitch joint 220 allows the arm 230 to rotate about an axis perpendicular to axis 261 and orthogonal to the plane of the drawing. The interface 302 includes mating parts, such as motor-driven gears, on the carriage 245 and proximal to the strapping unit 300, which actuate the movement of surgical instruments 338, 339 and the image capture unit 340 via conventional joint, cable, and pulley systems.

[0041] Arm 230 is configured such that portions 231 and 232 are always parallel to each other when the pitch joint 220 rotates via its motor. As a result, the strapping unit 300 can be controllably moved by driving the yaw and pitch motors to pivot about a pivot point 262, which is typically positioned by manually locating joints 204 and 205 to be at the point of entry into the patient. Additionally, the strapping unit 300 is coupled to a carriage 245 on arm 230, which is in turn coupled to a linear drive mechanism to extend or retract the strapping unit 300 along its insertion axis 263.

[0042] Although each of the motor-driven gears in the yaw joint 210, pitch joint 220, and carriage 245 is controlled by a separate joint or gear controller, the controllers can be controlled by a common master / slave control system, so that the medical device of the strap unit 300 can be controlled by a user (e.g., a surgeon or operator) by manipulating its associated control device.

[0043] As an example, Figure 3 A perspective view of the distal end of the binding unit 300 is shown. The binding unit 300 includes removable surgical instruments 338, 339 for performing medical procedures and a removable image capture unit 340 for viewing the procedure at the surgical site within the patient's body. Each of the instruments 338, 339 and the image capture unit 340 extends through a separate lumen formed within the inner core of the binding unit 300. A tool no longer needed can then be removed from its lumen by an assistant and replaced with a replacement tool 131 from the tray 60 by inserting it into the empty lumen. This completes the replacement of one or both of the surgical instruments 338, 339 during or in preparation for a medical procedure. Alternatively, if an unused lumen is available, another tool can be inserted through one of these available lumens without removing any other tools already in place.

[0044] The image capture device 340 preferably includes a pair of stereo cameras 342, 343 (and / or a single binocular camera) for three-dimensional imaging of the surgical site, and an illumination device 344, such as a light-emitting diode (LED) or a fiber optic bundle carrying light from an external source, to enhance the visibility of objects in the captured image. Auxiliary image capture units, such as ultrasound probes, may also be provided within the available lumen of the bundle unit 300 to "see" anatomical structures for surgical or diagnostic purposes.

[0045] In some embodiments, the outer sheath 310 is also included in the strapping unit 300 for protecting its inner core and any medical devices (i.e., surgical instruments and image capture units) inserted therein. The outer sheath 310 may be rigid. Alternatively, the outer sheath 310 may be formed of a flexible material or include actively and / or passively bendable portions, such that the strapping unit 300 can conform to the shape of the body lumen as it moves through the body lumen to the surgical site within the patient.

[0046] Surgical instruments 338 and 339 each have a controllably extendable, rotatable, and flexible arm, with their respective end effectors 322 and 332 coupled to the arm via wrist mechanisms 323 and 337. For example, the arm of surgical instrument 339 includes three links 331, 333, and 335 coupled via distal joints 334 and 336. The proximal link 335 is controllably extendable and retractable along an insertion axis 352 (preferably parallel to the insertion axis 263 of the single-port device 300) and controllably rotatable about the insertion axis 352 (as shown by rotation angle 353). On the other hand, the intermediate link 333 can be controlled to bend relative to the link 335 via the distal joint 336 (as shown by the bending angle 351), and the distal link 331 is coupled to the links 333 and 335 and can be bent via the distal joint 334 so that its bending angle 354 is opposite to the bending angle direction of the link 333, and thus keeps the links 331 and 335 parallel and aligned.

[0047] The arm of surgical tool 338 is constructed similarly to the arm of surgical tool 339. Additional details of an example of wrist mechanisms 323, 337 are provided in commonly owned U.S. Patent No. 6,817,974, “Surgical Tool Having Positively Positionable Tendon-Actuated Multi-Disk Wrist Joint,” which is incorporated herein by reference.

[0048] The image capture device 340 also has a controllably extendable, rotatable, and bendable arm 345, which at least facilitates the insertion / retraction of the image capture units 340, 300 along its insertion axis (which may be parallel to the insertion axis 263 of the single-port device 300) and allows for pitch movement to achieve a sufficient height of the image capture device 340 "above" the surgical instruments 338, 339 for proper observation of the surgical instruments 338, 339 during surgical procedures. Additional degrees of freedom, such as roll angle movement of the image capture device 340 about its insertion axis, can also be provided to facilitate additional positioning and orientation capabilities of the image capture device 340. To enhance maneuverability, the image capture arm 345 may also be flexible, such as a controllably bendable, rotatable, and extendable arm of the surgical instruments 338, 339.

[0049] When medical procedures are performed within a patient's anatomical structure, the cameras 342, 343 of the image capture device 340 can become fogged, for example, due to accumulated condensation. This fogging causes the image capture device 340 to capture blurry or indistinct images. Various systems and methods are provided below to minimize camera fogging.

[0050] Figure 4An image capture device 400 that can minimize fog is shown. According to the conformity... Figures 1 to 3 In some embodiments, the image capture device 400 can be used in the image capture device 340 that implements the bundling unit 300. According to some embodiments, the image capture device 400 can be used in a system other than the bundling unit 300.

[0051] The image capture device 400 includes an elongated body 410 that completely or partially surrounds components of the image capture device. In some examples, the body 410 may correspond to an 8.8 mm endoscope axis. More generally, the body 410 is small enough to accommodate insertion / retraction of the image capture device 400 through anatomical ports and / or anatomical pathways. According to some embodiments, the body 410 may be formed using a rigid tube. In some embodiments, the body 410 may be flexible. The cross-section of the body 410 may be elliptical, circular, polygonal, and / or any other suitable shape. In some examples, the width and / or shape of the body 410 may vary along its length. While the components of the image capture device 400 are generally housed within the body 410, some components may protrude from the sides and / or distal end 412.

[0052] A generally transparent window 414 is mounted at the distal end of the body 410. Optionally, the window 414 may be housed within a metal housing (not shown) mounted at the distal end of the body 410. The window may be formed of glass or a polymer material. In this embodiment, the image capturing device 400 is a binocular image capturing device, which includes optical components 416 spaced apart from optical components 418. Optical components 416, 418 receive illumination (i.e., light and / or other electromagnetic signals) from the scene and project a pair of images onto an image sensor (not shown). Optical components 416, 418 may include one or more lenses, mirrors, apertures, filters, prisms, polarizers, and / or the like to achieve desired image characteristics (e.g., focal length and / or spectral characteristics).

[0053] To prevent 414 fogging on windows or to remove or reduce condensation buildup on windows, heat can be applied to the windows. Figure 5An exploded image of a heat source 420, a flexible circuit 422, a heat sink 424, and a polymer spring 426 is shown. In this embodiment, the heat source 410 may be a resistor with contacts 428 soldered to face 430 of the flexible circuit 422. The resistor may be a fixed-value resistor. At the proximal end, the flexible circuit may be connected to a power source inside or outside the body 410. The heat sink 424 is soldered or otherwise coupled to face 432 (opposite to face 430) of the flexible circuit 422. The heat sink 424 extends between optical components 416, 418 and contacts or is positioned close enough that heat is transferred from the heat sink 424 to the window. The resistor 410 is fitted within a recess in the spring 426. The spring 426 applies a force to face 430 of the flexible circuit 422 to preload the heat sink 424 against the window 414. This spring force allows the heat sink 424 to maintain good thermal contact with the window 414. Heat sink 424 may be coated or colored to reduce light scattered from the heat sink, as scattered light can degrade image quality. In various embodiments, heat sink 424 may be formed of copper. A thermal path is created as heat from the resistor is transferred through contact 428 to heat sink 424 and then to window 414.

[0054] In this embodiment, the resistor is a fixed value, and the voltage from the power supply can also be a fixed value. The resistor and voltage values ​​can be selected to provide sufficient heat to minimize fogging of window 414 while maintaining a sufficiently safe temperature for contact with patient tissue for up to 30 minutes without burning or damaging the tissue. In various embodiments, the target temperature for reducing fogging of window 414 can be between approximately 45°C and 50°C.

[0055] Using a fixed-value resistor minimizes failure modes because there is likely no software or active control failure. The only failure mode is a disconnection between the power supply and the resistor, which would result in a cooler and therefore safer imaging device, but the device would have a higher chance of fogging due to the lower temperature. In other embodiments, active control of a variable resistor or other variable heat source can be applied with sufficient safety measures.

[0056] Various thermal paths can remove heat from window 414. For example, heat can be dissipated through optical components 416, 418, and other imaging components. This heat dissipation path passes through many different materials and joints that provide high thermal resistance. As another example, heat can be dissipated through the external body 410 and enter the air or fluid around the body or along its length. In this example, heat can be dissipated within approximately 42 mm of the proximal side of window 414.

[0057] Figure 6This is a cross-sectional view of an image capture device 500 that minimizes fog. According to the conformity... Figures 1 to 3 In some embodiments, the image capture device 500 can be used in the image capture device 340 that implements the bundling unit 300. According to some embodiments, the image capture device 500 can be used in systems other than the bundling unit 300.

[0058] This embodiment uses heat from the heating components of the imaging system to heat the window and reduce fogging. The image capture device 500 includes a window 502 fitted within a frame 504 at the distal end 506 of the device. The window may be formed of glass or a polymer material. In this embodiment, the image capture device 500 includes an optical component 508. The optical component 508 receives illumination (i.e., light and / or other electromagnetic signals) from the scene and projects an image onto an image sensor 510. The optical component 508 may include one or more lenses, mirrors, apertures, filters, prisms, polarizers, and / or the like to achieve desired image characteristics (e.g., focal length and / or spectral characteristics).

[0059] Image sensor 510 typically includes any means suitable for converting a projected image (including a binocular image) from optical component 508 into analog and / or digital electrical signals that retain at least a portion of the information contained in the projected image. According to some examples, sensor 510 may include a charge-coupled device (CCD) sensor, an active pixel sensor, a complementary metal-oxide-semiconductor (CMOS) sensor, an N-type metal-oxide-semiconductor (NMOS) sensor, and / or the like. According to some embodiments, sensor 508 may include a single monolithic sensor with dual active regions, and / or may include multiple discrete sensors.

[0060] Sensor 510 is electrically coupled to image processor 512, which receives electrical signals generated by the sensor and converts them for transmission. In some examples, image processor 512 may include signal conditioning electronics comprising one or more image signal processors (ISPs), amplifiers, analog-to-digital (A / D) converters, image encoders, and / or the like. In some examples, the output of image processor 512 may be a digital video signal feed. The digital video signal feed (or another signal representation of the captured image data) is transmitted out of image capture device 500 via connector 514. In some examples, connector 514 is configured to transmit image data and receive power and / or control signals.

[0061] Sensor 510 and processor 512 are mounted in housing 516, such as a ceramic circuit board. Optical component 508 is mounted to housing 518, which may be a metal housing (e.g., a stainless steel housing). Housing 518 connects housing 516 and frame 504. Housing 518 serves as a hermetically sealed enclosure for optical component 508 and sensor 510, and provides a thermal path for heat generated by sensor and processor 512.

[0062] Image capturing device 500 includes an elongated body 520 that completely or partially surrounds components of the image capturing device. The body 520 may be small enough to accommodate insertion / retraction of the image capturing device 500 through anatomical ports and / or anatomical pathways. The body 520 includes a distal body portion 522 coupled to a proximal body portion 524. The body portion 522 may be formed of a metal such as stainless steel. The body portion 524 may be formed of a material that promotes greater heat dissipation than the material of the distal body portion 522. For example, the body portion 524 may be formed of a stainless steel and copper composite material. A frame 504 is attached to the distal end of the body portion 522. The gap 526 between the body portion 522 and the housing 518 may be filled with an insulating material, such as air or other types of fluid or solid materials.

[0063] As heat from sensor 510 and processor 512 is transferred through housing 516, to housing 518, to frame 504, and to window 502, a thermal path 528 is created. The transferred heat removes smog from window 502 and / or minimizes condensation buildup. As heat flows along cooling thermal path 530 through body portion 522 and reaches heat sink and heat dissipation body portion 524, the heat is dissipated. Body portion 524 allows heat dissipation and reduces the risk to burn patients.

[0064] In various embodiments, in order to reduce fog, the target temperature of window 414 can be between approximately 45°C and 50°C. Figure 7 The temperature gradient of the image capture device 500 is shown. The temperature is highest in region 540, corresponding to the locations of the heat-generating components 510 and 512. As heat is transferred to the distal main body portion 522 and proximally towards the main body region 524, the heat is dissipated. In the thermal safety zone 542, which typically corresponds to the distal end of the main body portion 524, the temperature can be reduced to 42°C or below. Region 544, proximal to the safety zone 542, further dissipates heat and can maintain the temperature at or below 42°C.

[0065] The image capture device 500 can be considered to have a passive anti-fog design, as it relies solely on heat available from the heating elements 510 and 512. The surgical environment within the patient's anatomy has a temperature close to 37°C. This is a highly controlled environment with predictable heat dissipation characteristics. The device 500 is designed based on the energy balance of input heat from the heating elements and the surrounding environment to dissipate heat and maintain the window temperature at an equilibrium point. The device can be calibrated at the factory or before use. The heat supplied by the heating elements can be adjusted by changing the input voltage / power to achieve the necessary energy balance.

[0066] In an alternative active control embodiment, a temperature measuring device 517 can be used. The temperature measuring device can be mounted, for example, in a window, housing, or another suitable location. Monitoring temperature using such a sensor will provide feedback to allow active power control of the heat-generating component to regulate the temperature as conditions change. The active control device can allow for faster heating to equilibrium. The thermal path can remain constant.

[0067] In various embodiments, the temperature measuring device 517 may be, for example, a resistance thermometer (RTD), a thermistor, or a thermocouple-based device. An RTD can provide an accurate temperature data sensor and can have a relatively small surface-mount package size. A thermistor can also have a relatively small package surface-mount design. A thermocouple is also suitable, but may be more bulky and only report relative temperatures. Any of these example temperature measuring devices can be used by monitoring their resistance value and using a lookup table to convert the measured resistance value to the corresponding temperature.

[0068] This can mitigate some of the challenges associated with using temperature measuring devices (such as RTDs and thermistors). One challenge associated with temperature measuring devices may be self-heating. Driving current through the temperature measuring device to measure resistance can cause the device itself to heat up, resulting in a change in the measured resistance. Another challenge with temperature measuring devices may be that the resistance in the wiring from the device to the analog monitoring circuitry can produce errors in the resistance readings. This error can be unique for each device, so for each device, the temperature measuring device can be calibrated during the manufacturing process, where a device-specific resistance / temperature lookup table is stored for each device.

[0069] Due to packaging constraints and measurement accuracy requirements, the temperature measuring device can be positioned anywhere within the image capture device, across a variety of locations. In one embodiment, the temperature measuring device can be placed against the window of the image capture device to directly monitor the window temperature. In an alternative embodiment, the temperature measuring device can be positioned to contact the metal around the tip of the image capture device (e.g., within approximately 5 mm at the distal end). The temperature of the metal around the tip can be somewhat lower than the temperature of the window itself. Generally, the farther the temperature measuring device is from the window, the greater the offset between the window temperature and the sensor reading. Calibration can be determined during manufacturing or during simulation to determine the offset for each image capture device. The greater the distance and offset, the less reliable the sensor readings are for use in a closed-loop control system. For example, in some image capture devices, a distance greater than 10 mm between the sensor and the window can prove unreliable in a closed-loop control system.

[0070] Temperature measuring devices can be used within closed-loop temperature control systems, where the operation of the heat source is controlled based on feedback from the temperature measuring device. A predetermined operating temperature or effective operating temperature range can be pre-established and monitored using the temperature measuring device to control the heat source to maintain the effective operating temperature. Closed-loop control systems can reduce variations in tip temperature, thereby improving safety and effectiveness.

[0071] Temperature monitoring can be used within the temperature control system of an image capture device to increase the safety and effectiveness of the device. For example, temperature monitoring can be used as an on / off controller (e.g., if only a single voltage or current drives the heating element) or as an analog controller (e.g., if the voltage or current driving the heating element is adjustable) to control tip heating power. For example, temperature monitoring can be used to disable tip heating if a malfunction occurs in the image capture device or if the image capture device detects an unsafe situation (e.g., if there is direct contact with tissue, or if the illumination is turned off, thus creating a risk of direct tissue contact). For example, temperature monitoring in a closed-loop or open-loop control system allows for the adjustment of distal tip heating to maintain a desired temperature and avoid overheating, even if the surgical ambient temperature differs significantly from the calibration ambient temperature. For example, common-type temperature monitoring sensors can be used with image capture devices having different types of cooling systems. For example, temperature sensors can be used to limit the magnitude of tip heating when tip heat is adjustable based on fog detection and / or when tip temperature is affected by other heat sources such as cauterization instruments. For example, when the illumination intensity is dynamic or adjustable, the amount of tip heating from the illumination (and therefore window defogging) will also change. Temperature monitoring can be used to adjust the tip heating to maintain sufficient heat for defogging, even if the heat from the illumination is variable. For example, temperature monitoring can be built into the circuitry, independent of the image capture system's firmware or operating software, to maintain a predetermined temperature. Alternatively, even if the heating element itself is not adjustable, temperature can be monitored via firmware / software for recording purposes or to shut down the image capture device in an emergency.

[0072] Figure 8 A simplified cross-sectional view of an image capture device 600 that uses visible light as a heat source to minimize fog is shown. (According to...) Figures 1 to 3 In some embodiments, the image capture device 600 can be used to implement the image capture device 340 of the bundling unit 300. According to some embodiments, the image capture device 600 can be used in systems other than the bundling unit 300. The image capture device 600 includes a window 602, which is optionally coupled to an elongated body 606 via a frame 604. As described above, an optical component 608 transmits illumination to an image sensor 610, which converts the light into an electrical signal for processing by a processor 612. The processor 612 is coupled to a power supply 614.

[0073] The illumination component 616 provides visible wavelength light to the anatomical region distal to window 602. In some embodiments, the illumination component 616 may include one or more illumination sources, such as optical fibers for transmitting visible light. Alternatively, the illumination component may include a light-emitting diode (LED).

[0074] In this embodiment, the heat source is a plurality of dead-headed optical illumination fibers 618 that transmit visible light to one or more components 620. Components 620 may be metal or ceramic platforms that absorb the visible light transmitted by the fibers 618 and convert the light into heat. The heat from components 620 warms window 602 and removes fog and / or minimizes the accumulation of condensation.

[0075] In this embodiment, fiber 618 terminates proximally at the distal end of illumination component 616. In one example, if 100mW of heating is required at window 602, and 1000 optical fibers are used to transmit 1000mW of light, then 100 optical fibers (e.g., fiber 618) will be chamfered, such that 100mW of light is converted into heat and 900 optical fibers (e.g., illumination component 616) will carry 900mW of light for imaging illumination. All light from fiber 618 is absorbed to prevent stray light from degrading image quality.

[0076] Figure 9 A simplified cross-sectional view of an image capture device 650 using a fluid as a heat source is shown. The window 602, frame 604, elongated body 606, optical components 608, sensor 610, processor 612, power supply 614, and illumination component 616 are substantially the same as previously described. In this embodiment, the heat source is a hot fluid 652 circulating through the body 606 of the device 650 to provide heat to the window 602 and / or frame 604. The fluid 652 can be, for example, water, air, or salt water. The fluid 652 can circulate through a channel 654 passing near the window 602 and frame 604. In this embodiment, the fluid 652 heats the inner proximal surface of the window 602 or frame 604 to remove fog and / or minimize the accumulation of condensation.

[0077] Figure 10 A simplified cross-sectional view of an image capture device 700 using a fluid as a heat source and / or drying source is shown. The window 602, frame 604, elongated body 606, optical components 608, sensor 610, processor 612, power supply 614, and illumination component 616 are substantially the same as previously described. In this embodiment, the heat source is a hot fluid 702 that flows in the channel 704 and through the aperture 706 to the outer surface of the window 602. The fluid 702 can be, for example, water, air, or salt water. In this embodiment, the fluid 702 heats and / or dries the outer distal surface of the window 602 or frame 604 to remove fog and / or minimize the accumulation of condensation.

[0078] Figure 11A simplified cross-sectional view of an image capture device 750 using an infrared light source 752 as a heat source is shown. The window 602, frame 604, elongated body 606, optical components 608, sensor 610, processor 612, power supply 614, and illumination component 616 are substantially the same as previously described. In this embodiment, the infrared light source 752 is an optical fiber transmitting light of infrared wavelengths. The infrared light is aimed at the window 602 or frame 604 to generate heat to remove haze and / or minimize the accumulation of condensation. For example, infrared wavelengths longer than 8 μm can be completely absorbed by the sapphire window.

[0079] Figure 12 A simplified cross-sectional view of an image capture device 800 using an electrical conductor 802 on window 602 or frame 604 as a heat source is shown. Window 602, frame 604, elongated body 606, optical components 608, sensor 610, processor 612, power supply 614, and illumination component 616 are substantially the same as previously described. In this embodiment, the electrical conductor 802 attached to window 602 or frame 604 is powered by power supply component 804 (e.g., wire) to resistively heat the window to remove fog and / or minimize condensation buildup. Compared to heat sink 624, electrical conductor 802 may require less power to defog window 602. Lower power requirements improve patient safety. The electrical conductor can be made transparent by using indium tin oxide (ITO) or nanomaterials such as silver nanoparticles or carbon nanotubes. Alternatively, the electrical conductor can be a trace amount of metal outside the field of view of the optical components.

[0080] Figure 13 A simplified cross-sectional view of an image capture device 850 is shown, illustrating the application of ultrasonic energy to a window 602 using an ultrasonic transducer 852. The window 602, frame 604, elongated body 606, optical components 608, sensor 610, processor 612, power supply 614, and illumination component 616 are substantially the same as previously described. In this embodiment, the ultrasonic transducer 852 is powered by a power supply component 854 (e.g., wires). The ultrasonic energy applied to the window 602 can evaporate condensed fluid and clean the imaging field of view.

[0081] Figure 14A simplified cross-sectional view of an image capture device 900 is shown, wherein a coating 902 is present on the outer surface of a window 602. The window 602, frame 604, elongated body 606, optical components 608, sensor 610, processor 612, power supply 614, and illumination components 616 are substantially the same as previously described. In this embodiment, the coating 902 may be hydrophobic, causing condensation to fall from the window, or it may be hydrophilic, causing condensation to form a thin film on the window. The coating 902 may be deposited nanoparticles (e.g., SiO2) smaller than the visible light wavelength and will be used to create a superhydrophilic surface. Alternatively, the coating may be an etching process on a sapphire window to create a spike structure smaller than the visible light wavelength, which also serves to create a superhydrophilic surface. The etched surface may include the additional benefit of being integrated with the window surface itself, thus reducing coating adhesion and biocompatibility issues.

[0082] Although illustrative embodiments have been shown and described, extensive modifications, alterations, and substitutions are contemplated in the foregoing disclosure, and in some cases, some features of the embodiments may be employed without the corresponding use of other features. Many variations, substitutions, and modifications will be recognized by those skilled in the art. Therefore, the scope of the invention should be limited only by the appended claims, and appropriately, the claims should be interpreted broadly in a manner consistent with the scope of the embodiments disclosed herein.

Claims

1. An image capture device, comprising: The first slender main body portion is formed of the first material; A second elongated body portion is coupled to the proximal end of the first elongated body portion, the second elongated body portion being formed of a second material having a greater thermal conductivity than the first material; An imaging window, which is coupled to the distal end of the first elongated body portion; A first housing, which is located within the first elongated main body portion; An image sensor is mounted on the distal surface of the first housing; An image processor is mounted to the first housing and configured to receive electrical signals from the image sensor; as well as A second housing, located within the first elongated body portion, is coupled to the first housing and the imaging window, such that heat generated by the image sensor and the image processor is transferred to the imaging window through the second housing.

2. The image capturing device according to claim 1, wherein the first housing is formed of a ceramic material and the second housing is formed of a metallic material.

3. The image capturing device of claim 1, wherein an insulating material extends between the first elongated body portion and the second housing.

4. The image capturing device according to claim 3, wherein the insulating material is air.

5. The image capturing device according to claim 1, wherein the first material is stainless steel and the second material is a composite material of copper and stainless steel.

6. The image capturing device according to claim 1, further comprising a lens mounted to the second housing.

7. The image capturing device of claim 6, wherein the second housing includes a seal configured to isolate the lens from the external environment.

8. The image capture device according to claim 7, wherein the seal is an airtight seal.

9. The image capturing apparatus of claim 1, further comprising a temperature measuring device for sensing the temperature at the distal end of the first elongated body portion.

10. The image capture apparatus according to claim 9, further comprising: Heat source; as well as A closed-loop temperature control system that controls the operation of the heat source based on the temperature at the distal end of the first elongated body portion.

11. The image capturing apparatus of claim 9, wherein the temperature measuring device is coupled to the imaging window.

12. The image capturing apparatus of claim 9, wherein the imaging window is positioned within a frame, and wherein the temperature measuring device is coupled to the frame.

13. The image capture device of claim 1, wherein the second housing includes a seal configured to isolate the image sensor from the external environment.

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