Imaging apparatus and method of imaging target location

Abstract

An imaging apparatus and a method of imaging a target location. Systems and methods for imaging a target location are provided. Accordingly, the imaging device includes an imaging system positioned within the elongate body. The imaging system includes an optical chamber hermetically sealed within the elongate body. A focusing element is movably positioned in the optical chamber. The image sensor is operably coupled to the focusing element. A focus driver is positioned in the optical chamber and operably coupled to the focusing element. The focus driver is configured to move a longitudinal position of the focus element in response to the control input. Further, the imaging system includes a sealing member configured to maintain a hermetic seal of the optical chamber when the control input regulates the focus driver.

Description

Technical Field

[0001] Embodiments described herein relate to remote imaging of a target location, such as when performing a minimally invasive medical procedure. More specifically, embodiments described herein relate to imaging devices and methods of imaging a target location using the imaging devices. Background Art

[0002] Minimally invasive medical technology aims to reduce the amount of external tissue damaged during a diagnostic or surgical procedure, thereby reducing the patient's recovery time, discomfort, and harmful side effects. For example, a cannula cannula may be passed through an incision in the patient's abdominal wall to provide an entrance through which various devices may be passed. The size of the incision may be designed to accommodate the cannula cannula. In order to reduce the amount of external tissue damaged, it is desirable to minimize the size of the incision used to reach the target location, and therefore, it is desirable to minimize the diameter of the cannula cannula. Minimizing the cannula cannula diameter in turn limits the diameter of any device to be inserted through the cannula cannula.

[0003] Known minimally invasive techniques, such as minimally invasive surgery (MIS), employ devices to manipulate tissue, which may be manually controlled medical systems, or may be hand-held or mechanically remotely operated medical systems that are at least partially computer-assisted ("telesurgical systems"). Many known MIS devices include a therapeutic or diagnostic end effector (e.g., forceps, cutting tools, or cauterization tools) mounted on an optional wrist mechanism at the distal end of a shaft. During an MIS procedure, the end effector, wrist mechanism, and distal end of the shaft are typically inserted into a small incision or natural orifice in the patient via a cannula to position the end effector at a working site in the patient's body. The optional wrist mechanism can be used to change the position and orientation of the end effector relative to the shaft to perform the desired procedure at the working site.

[0004] The most common form of MIS may be endoscopic surgery. An endoscopic surgical device generally includes an endoscope (for illumination and viewing of the surgical field) and working tools. In endoscopic surgery, the working tools may be similar to those used in conventional (open) surgery, except that the working end or end effector of each tool is separated from its handle by an extension tube. As used herein, the term "end effector" means the actual working portion of the surgical device, which may include, for example, clamps, graspers, scissors, staplers, and needle clamps.

[0005] To perform an endoscopic surgical procedure, the surgeon delivers these working tools or devices to the internal surgical site through the cannula cannula and manipulates the tools or devices from outside the abdomen. The surgeon can monitor the surgical process at the internal surgical site through an endoscope (also referred to herein as an endoscopic camera). MIS procedures using endoscopic cameras are well known (e.g., arthroscopy, laparoscopic surgery, pelvicoscopy, nephroscopy, cystoscopy, cisternscopy, sinoscopy, hysteroscopy, urethroscopy, etc.).

[0006] After each operation, surgical tools to be reused (including endoscopic cameras) are usually cleaned, disinfected and sterilized for subsequent use. Surgical tools can be cleaned with water, enzymatic detergents and brushes. The usual method of sterilizing surgical tools involves soaking the surgical tools in chemical disinfectants, which minimizes the risk of infection in a hospital environment. Surgical tools to be reused in another operation are generally subjected to an additional sterilization process that kills all bacteria so that the surgical tools can be used again in an operation without transmitting bacteria from one patient to another. The sterilization process involves chemical sterilization techniques or steam sterilization processes using an autoclave.

[0007] Disinfection and sterilization by immersion in chemical liquids may not be as environmentally friendly or efficient as other methods. Disposal of used chemicals is not only costly, but also harmful to the environment. Another disadvantage is that chemicals are often corrosive, which can damage seals or other parts of the device. In addition, chemical disinfection and sterilization is slower than other methods. Therefore, surgical devices can go longer between surgeries.

[0008] Likewise, disinfection and sterilization using chemical gases such as ethylene oxide also have their disadvantages. Such gases are highly toxic and / or flammable. To ensure the safety of patients and medical staff, extreme care must be taken during and after the disinfection and sterilization process. Disinfection and sterilization processes using gases are known to be complex and can therefore lead to longer intervals between surgeries.

[0009] Since many healthcare facilities have access to autoclaves, steam sterilization is commonly used to sterilize surgical devices. This sterilization method, commonly referred to as autoclave sterilization, sterilizes surgical devices quickly and efficiently without the need for toxic chemicals and lengthy procedures. Standards for autoclaving vary, but two common standards call for exposing the device to steam at 134 degrees Celsius and 2 atmospheres of pressure for three minutes (U.S. standards) or 18 minutes at this temperature and pressure (European standards). Autoclaving takes less time than other sterilization methods and does not require the use of toxic chemicals.

[0010] In view of the above, the art has been seeking new and improved systems and methods for imaging a target location using an imaging device. Summary of the invention

[0011] To provide a basic explanation, this summary introduces some aspects of the embodiments described herein. This summary is not an extensive overview of the subject matter of the present invention, nor is it intended to identify key or critical elements or to delineate the scope of the subject matter of the present invention.

[0012] The systems and methods described herein facilitate imaging of target locations with limited access, such as surgical sites. As described herein, the target location is imaged with an imaging device. The imaging device includes an airtightly sealed optical chamber and may have a small diameter for use in MIS procedures. For example, the outer diameter of the imaging device may be less than 6 mm, which facilitates reaching the target location via a patient's body orifice. The airtightly sealed optical chamber includes a sealing member that maintains an airtight seal even if a control input is delivered from outside the optical chamber to an imaging system contained within the optical chamber to modify the focus of the imaging system. In some embodiments, the sealing member may facilitate changes in the airtightly sealed optical chamber container.

[0013] In some embodiments, the imaging system includes an elongated body defining a channel. The channel extends longitudinally through the elongated body between a proximal end portion and a distal end portion of the elongated body. The distal end portion of the elongated body is coupled to a distal tip. The imaging system is positioned within the elongated body. The imaging system includes an optical chamber that is hermetically sealed and at least partially defined by a housing. A focusing element is movably positioned within the optical chamber. An image sensor is operably coupled to the focusing element. A focus drive is positioned within the optical chamber and operably coupled to the focusing element. The focus drive is configured to move a longitudinal position of the focusing element in response to a control input. A sealing member is coupled to the housing. The sealing member is configured to maintain an airtight seal of the optical chamber when the control input regulates the focus drive.

[0014] In some embodiments, the imaging device includes a fiber optic bundle positioned within the channel. The fiber optic bundle includes an input end operably coupled to a light source and an output end positioned at a distal tip. At least a portion of the fiber optic bundle is configured to be in fluid communication with an environment surrounding the imaging device.

[0015] In some embodiments, the proximal mechanical assembly is coupled to the proximal end portion of the elongated body. The proximal mechanical assembly is configured to receive a control input. The imaging device also includes an actuation member positioned within the elongated body and coupled between the proximal mechanical assembly and the focus actuator. The actuation member is configured to apply a mechanical force to the focus actuator in a longitudinal direction in response to the control input.

[0016] In some embodiments, the sealing member is configured to move between the collapsed configuration and the expanded configuration when the control input moves the focus actuator between the first focus position and the second focus position. In some embodiments, the sealing member is a metal bellows.

[0017] In some embodiments, when the sealing member is in the collapsed configuration, the optical chamber has a first volume, and when the sealing member is in the expanded configuration, the optical chamber has a second volume. The second volume is greater than the first volume.

[0018] In some embodiments, the housing includes a flange portion. The focus actuator includes a proximal portion extending longitudinally through the flange portion. In addition, the sealing member has a distal end coupled to the flange portion and a proximal end coupled to the proximal portion of the focus actuator.

[0019] In some embodiments, the sealing member is a sealing assembly. The sealing assembly includes at least one O-ring and a dust seal. The O-ring and the dust seal surround the proximal portion of the focus drive or the actuating member.

[0020] In some embodiments, an energy storage device is positioned between a portion of the housing and a portion of the focus actuator. The energy storage device is configured to apply a biasing force to the focus actuator.

[0021] In some embodiments, the imaging system includes a set of optical elements positioned to establish an optical axis from a target location, through a focus element, and onto an image sensor.

[0022] In some embodiments, a set of optical elements includes a prism positioned between the focus actuator and the focus adjustment element.

[0023] In some embodiments, the imaging system includes a movable lens frame. The movable lens frame includes a middle portion extending between a distal end and a proximal end. The focus element is coupled to the distal end of the movable lens frame, while the proximal end of the movable lens frame is coupled to a focus actuator, and the middle portion of the movable lens frame is positioned radially outward of the prism so that the prism is between the movable lens frame and the image sensor.

[0024] In some embodiments, the image sensor is offset from an optical axis defined by a set of optical elements.

[0025] In some embodiments, the plurality of optical elements comprises a window positioned at the distal tip; and the window defines a portion of the optical chamber.

[0026] In some embodiments, the set of optical elements includes a sapphire window positioned at the distal tip, with the sapphire window defining a portion of the optical chamber.

[0027] In some embodiments, a set of optical elements includes a lens group at a fixed longitudinal position distal to the focusing element and proximal to the distal tip.

[0028] In some embodiments, the maximum outer diameter of the elongated body is less than 6 mm.

[0029] In one aspect, the present disclosure relates to a method for imaging a target location. The method includes orienting a distal tip of an imaging device toward the target location. The imaging device includes a channel extending longitudinally through the elongated body between a proximal end portion of the elongated body and a distal end of the elongated body coupled to the distal tip. An imaging system is positioned within the elongated body. The imaging system includes an optical chamber at least partially defined by a housing. The optical chamber is hermetically sealed. A focusing element is movably positioned within the optical chamber. An image sensor is operably coupled to the focusing element. A focusing drive is positioned within the optical chamber and operably coupled to the focusing element. The focusing drive is configured to move a longitudinal position of the focusing element in response to a control input. A sealing member is coupled to the housing. The sealing member is configured to maintain an airtight seal of the optical chamber. The method also includes positioning the focusing element at a longitudinal position while maintaining an airtight seal by providing a control input to the focusing drive; and directing a portion of light to the image sensor via the distal tip and the focusing element to image the target location.

[0030] In some embodiments, the imaging device includes a fiber optic bundle positioned within the channel. The fiber optic bundle includes an input end operably coupled to a light source and an output end positioned at a distal tip. The fiber optic bundle is in fluid communication with an environment surrounding the imaging device. In addition, the method also includes delivering illumination to a target location via the fiber optic bundle.

[0031] In some embodiments, the imaging device includes a proximal mechanical assembly coupled to a proximal end portion of an elongated body, and an actuation member positioned within the elongated body and coupled between the proximal mechanical assembly and a focus drive. In such embodiments, the method includes providing a control input to the proximal mechanical assembly, and maintaining a hermetic seal of the optical chamber while applying a mechanical force to the focus drive in a longitudinal direction via the actuation member in response to the control input.

[0032] In some embodiments, when the focus actuator is in the first focus position, the longitudinal position of the focus element is the first longitudinal position and the imaging system has a first focus distance, and the mechanical force is a tensioning force. In addition, the method also includes applying a tensioning force to the focus actuator to move the focus actuator longitudinally from the first focus position to a second focus position proximal to the first focus position. When the focus actuator is in the second focus position, the focus element is in the second longitudinal position, and the imaging system has a second focus distance, the second focus distance being greater than the first focus distance.

[0033] In some embodiments, the method includes moving the focus actuator between a first focus position and a second focus position via a mechanical force applied by an actuation member. In addition, the method includes maintaining an airtight seal of the optical chamber while transitioning the sealing member between a collapsed configuration when the focus actuator is in the first focus position and an expanded configuration when the focus actuator is in the second focus position.

[0034] In some embodiments, when the sealing member is in the collapsed configuration, the optical chamber has a first volume, and when the sealing member is in the expanded configuration, the optical chamber has a second volume. The second volume is greater than the first volume.

[0035] In some embodiments, the imaging device includes an energy storage device positioned between a portion of the housing and a portion of the focus actuator. In such embodiments, the method includes applying a biasing force to the focus actuator in a longitudinal direction. The biasing force positions the focus element at a default longitudinal position.

[0036] In some embodiments, the housing includes a flange portion. The focus drive includes a proximal portion extending longitudinally through the flange portion. In addition, the sealing member has a distal end coupled to the flange portion at a fixed longitudinal position and a proximal end coupled to the proximal portion of the focus drive. The proximal portion is movable with the focus drive.

[0037] In some embodiments, the imaging system includes a set of optical elements positioned to establish an optical axis from a target location, through a focus element, and onto an image sensor. The set of optical elements includes a prism positioned between the focus actuator and the focus element.

[0038] In some embodiments, the imaging system includes a movable lens holder having a middle portion extending between a distal end and a proximal end. A focusing element is coupled to the distal end of the movable lens holder, and the proximal end is coupled to a focus actuator. The middle portion of the movable lens holder is positioned radially outward from the prism so that the prism is between the movable lens holder and the image sensor. Thus, the method includes applying a force to the proximal end of the movable lens holder via the focus actuator at a longitudinal position proximal to the prism. The method also includes longitudinally moving the middle portion of the movable lens holder relative to the prism to move the focusing element between a first longitudinal position and a second longitudinal position. The focusing element is positioned distally relative to the prism. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a schematic diagram of a portion of an imaging device according to an embodiment.

[0040] Figure 2 is a perspective view of an imaging device according to an embodiment.

[0041] Figure 3 yes Figure 2 An end view of a distal end portion of an imaging device.

[0042] Figure 4 yes Figure 2 A perspective view of a portion of an imaging device with the elongated body removed.

[0043] Figure 5 is along Figure 3 Intercepted by midline XX Figure 2 A cross-sectional side view of a distal portion of an imaging device depicting the imaging system in a first focus state.

[0044] Figure 6 yes Figure 2 A perspective view of the optical chamber of the imaging apparatus.

[0045] Figure 7 is with Figure 5 The same configuration Figure 2 The distal portion of the imaging device is along Figure 3 A cross-sectional side view taken along midline XX showing the optical chamber having a first volume.

[0046] Figure 8 is along Figure 3 The line XX in Figure 2 A cross-sectional side view of a distal portion of an imaging device showing the imaging system in a second focusing state.

[0047] Fig. 9 yes Figure 2 A side view of an imaging system of an imaging device with a portion of the housing removed.

[0048] Fig.10 yes Figure 2 An exploded view of the components of the imaging system of an imaging device.

[0049] Fig.11 yes Figure 2 A perspective view of a portion of components of an imaging system of an imaging device.

[0050] Fig.12 is a schematic diagram of a proximal portion of an imaging device according to an embodiment.

[0051] Fig.13 is a flow chart of a method of imaging a target location using an imaging device according to an embodiment. DETAILED DESCRIPTION

[0052] Reference will now be made in detail to embodiments of the present invention, one or more of which are illustrated in the accompanying drawings. Each example is provided to explain this aspect, rather than to limit the present invention. In fact, it will be apparent to those skilled in the art that various modifications and variations may be made to the present invention without departing from the scope or spirit of the present invention. For example, features are illustrated or described as part of an embodiment and may be used together with another embodiment to produce another embodiment. Therefore, it is intended that the present invention encompass modifications and variations within the scope of the appended claims and their equivalents.

[0053] In general, the present disclosure relates to systems and methods for imaging a target location in a spatially constrained environment. For example, the target location may be, for example, a surgical site, which is accessed through an opening (e.g., a body orifice, an incision, and / or a cannula) having an inner diameter of less than 9 mm (e.g., less than 7 mm). In order to image the target location, the imaging device must be sized to pass through the opening. For example, the imaging device may be designed to have a maximum diameter of less than 6 mm. Under these size constraints, it is still desirable to be able to illuminate the target location and adjust the focus of the imaging system of the imaging device without changing the position of the imaging device. In addition, since the imaging device may be exposed to moisture when imaging the target location and / or during postoperative treatment, it is desirable that the various optical elements of the imaging device are preferably hermetically isolated. Specifically, it is desirable that the imaging device is configured to maintain a hermetic seal around the optical elements when receiving a control input to adjust the focus of the imaging system. Therefore, the various systems and methods described herein are conducive to establishing and maintaining a hermetic seal around at least the optical elements in the imaging device that are sized to reach the target location.

[0054] As described herein, an imaging device may include an imaging system positioned within an elongated body (e.g., a device shaft). For example, the imaging system may be positioned within the distal end of the elongated body. The imaging system may include a set of optical elements (e.g., lenses and prisms) positioned within an airtightly sealed optical chamber. In order to maintain the airtight seal, a sealing member may be coupled to the housing of the optical chamber and maintain the airtight seal when receiving a control input. The optical element may include a focusing element that is movably positioned within the optical chamber and operably coupled to an image sensor (i.e., a sensor that converts light waves into electrical signals). In other words, the optical element may be positioned to direct reflected light from a target location onto the image sensor. A focus drive may be positioned within the optical chamber to move the focusing element to change the focal length of the imaging system without moving the imaging device. For example, the focus drive may be coupled to an actuating member that may transmit a mechanical force from a user of the optical device to move the focusing element. Because it is a sealing member, this mechanical force may be transmitted to the focus drive without breaking the airtight seal of the optical chamber. Thus, the contents of the hermetically sealed optical chamber (including the movable focus element) are isolated from moisture that could degrade the image of the target location (eg, due to fogging, condensation, and / or other similar factors).

[0055] As used herein, the term "about" when associated with a referenced numerical representation refers to the referenced numerical representation plus or minus up to 10% of the referenced numerical representation. For example, "about 50" encompasses a range of 45 to 55. Similarly, the phrase "about 5" also includes a range of 4.5 to 5.5.

[0056] As used in this specification and the appended claims, "distal" refers to a direction toward a working site (i.e., a target location), and "proximal" refers to a direction away from a working site. Thus, for example, the end of the device closest to the target location is the distal end of the device, and the end opposite the distal end (i.e., the end manipulated by the user) is the proximal end of the device.

[0057] In addition, specific words are selected to describe one or more embodiments and optional elements or features, and are not intended to limit the present invention. For example, spatial relative terms, such as "under ... ", "under ... ", "under ", "above ... ", "on ", "proximal ", "distal ", etc., can be used to describe the relationship between an element or feature and another element or feature as shown in the accompanying drawings. In addition to the position and orientation shown in the figure, these spatial relative terms are intended to cover different positions (i.e., translation placement) and orientations (i.e., rotation placement) of the device when it is used or operated. For example, if the device in the figure is flipped, the element described as "under" or "below" other original prices or features is "above" or "on" other elements or features. Therefore, the term "under ... " can cover both upper and lower positions and orientations. The device can also be oriented in other ways (e.g., rotated 90 degrees or other directions), and the spatial relative descriptors used in this article can also be interpreted accordingly. Similarly, the description of movement along (translation) and around (rotation) various axes also includes various spatial device positions and orientations. The combination of the position and orientation of the subject defines the posture of the subject (e.g., kinematic posture).

[0058] Likewise, unless the context indicates otherwise, geometric terms, such as "parallel," "perpendicular," "circular," or "square," are not intended to require absolute mathematical precision. Rather, such geometric terms allow for variations due to manufacturing or equivalent functions. For example, if an element is described as "circular" or "substantially circular," this description still encompasses irregular circular components (e.g., slightly elliptical or multi-faceted polygonal components).

[0059] In addition, unless the context indicates otherwise, the singular forms "a / an" and "the" are also intended to include the plural forms. The terms "comprising", "including", "having", etc. indicate the presence of stated features, steps, operations, elements, components, etc., but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, or groups.

[0060] Unless otherwise specified, the terms instrument, medical device, apparatus and variations thereof are used interchangeably.

[0061] The various imaging devices described herein may be used as handheld devices or via a remotely operated surgical system. A remotely operated surgical system ("system") is a system that operates at least partially with the assistance of a computer ("remote surgical system"). The remote surgical system and its components are considered medical devices. The remote surgical system may be a minimally invasive robotic surgery (MIRS) system, which is used to perform minimally invasive diagnostic or surgical procedures on a patient lying on an operating table. The system may have any number of components, such as a user control unit, which is used by a system operator (such as a surgeon or other skilled clinician) during the procedure. The MIRS system may also include a manipulator unit (commonly known as a surgical robot) and an optional auxiliary instrument unit. The manipulator unit may include an arm assembly and a surgical device tool assembly that is detachably connected to the arm assembly. When the surgeon views the surgical site and controls the movement of the device through the control unit, the manipulator unit can manipulate at least one detachably connected medical device (device) through a minimally invasive incision of the body or a natural orifice of the patient. An imaging device (i.e., an endoscope) can obtain an image of the surgical site, and the manipulator unit can manipulate the imaging device to orient the endoscope. The auxiliary instrument unit may be used to process images of the surgical site for subsequent display to the surgeon via the user control unit.

[0062] Figure 1 is a schematic diagram of a portion of an imaging device 1300 according to an embodiment. In some embodiments, the imaging device 1300 or any component thereof may be configured as a handheld endoscope for use in imaging a target location TL (e.g., a surgical site) in a spatially confined environment. In some embodiments, the imaging device 1300 or any component thereof may optionally be part of a surgical system that performs minimally invasive surgical procedures and may include a manipulator unit, a series of kinematic links, a series of cannulas, etc.

[0063] In some embodiments, the imaging device 1300 may include an elongated body 1310 (e.g., a device shaft). The elongated body 1310 defines a channel that extends longitudinally through the elongated body 1310 between a proximal end portion of the elongated body 1310 and a distal end portion 1313 of the elongated body 1310. The distal end portion 1313 is coupled to or forms a portion of a distal tip 1314. In some embodiments, the elongated body 1310 has a maximum outer diameter OD that is sized to pass through a body hole and / or a cannula. In other words, the maximum outer diameter OD may be limited by a minimum inner diameter of the body hole and / or cannula. For example, in order to pass through a body hole and / or a cannula to image a target location TL, the maximum outer diameter of the elongated body 1310 may be less than 6 mm (e.g., 5.5 mm, 5.0 mm, between 4.5 mm and 6.0 mm, between 5.0 mm and 6.0 mm, and any suitable range therebetween). It will be appreciated that the necessity of passing through a body orifice and / or cannula to reach a target site imposes a limit on the maximum outer diameter which limits the available volume within the passageway that may be used to place a component.

[0064] In some embodiments, the imaging device 1300 may include an illumination source (e.g., an LED device, a fiber optic output, a laser illuminator, and / or other similar illuminator) positioned to illuminate the target location TL. For example, a fiber bundle 1320 may be positioned within a channel of the elongated body 1310. The fiber bundle 1320 may include an input end operably coupled to a light source and an output end 1322 positioned at the distal tip 1314. At least a portion of the fiber bundle 1320 may be configured to be fluidically connected to an environment surrounding the imaging device (e.g., an environment at the target location TL). In other words, in some embodiments, due in part to the limited maximum outer diameter of the elongated body 1310, the output end 1322 is not positioned behind a sealed sapphire window. It is not required to include a sealed sapphire window for fluidly isolating the illumination source from the target location, which may be advantageous in providing an illumination source while meeting size constraints imposed by the maximum outer diameter OD. In other words, eliminating the sealed sapphire window may reduce the diameter of the imaging device 1300.

[0065] like Figure 1 As shown, the imaging device 1300 includes an imaging system 1330 positioned within the elongated body 1310. For example, the imaging system 1330 can be positioned within the distal end portion 1313 of the elongated body 1310. However, in some embodiments, the imaging system 1330 can extend along the longitudinal length of the elongated body 1310 to the proximal portion.

[0066] Imaging system 1330 includes optical chamber 1340. Optical chamber 1340 is at least partially defined by housing 1342. To isolate components of imaging system 1330 from moisture encountered at a target site and / or during post-operative treatment, optical chamber 1340 is hermetically sealed. In other words, the volume defined by optical chamber 1340 is fluidly isolated from the surrounding environment such that liquid, vapor, and / or gas is prevented from flowing between the volume defined by optical chamber 1340 and the surrounding environment. By maintaining a hermetic seal of optical chamber 1340, the effects of moisture on optical components positioned therein are eliminated.

[0067] As shown, the imaging system 1330 includes a focus element 1350 movably positioned within the optical chamber 1340. In addition, the image sensor 1850, which may be a sensor that converts light waves into electrical signals (e.g., a charge coupled device or an active pixel sensor), is operably coupled to the focus element 1350. Thus, the optical axis OA extends from the target location to the distal tip 1314, through the focus element 1350, and to the image sensor 1850. The focus element 1350 can facilitate changing the focus of the imaging system 1330. In some embodiments, in order to adjust the focus of the imaging system 1330 by moving the focus element 1350, a focus actuator 1360 is positioned within the optical chamber 1340. The focus actuator 1360 is operably coupled to the focus element 1350 and is configured to move the position (e.g., longitudinal position or rotational position) of the focus element 1350 in response to a control input while the image sensor 1850 remains at a fixed longitudinal position relative to the elongated body 1310. In some embodiments, a portion of focus driver 1360 is positioned proximal to image sensor 1850 and is configured to receive control input from actuation member 1315. Actuation member 1315 is positioned within elongated body 1310 and may be configured to apply mechanical force F to focus driver 1360.

[0068] To maintain an airtight seal, imaging system 1330 includes a sealing member 1370 coupled to housing 1342. For example, sealing member 1370 may be coupled to a proximal end portion of housing 1342. Sealing member 1370 is configured to maintain an airtight seal of optical chamber 1340 when a control input regulates focus drive 1360. In some embodiments, sealing member 1370 surrounds a proximal portion of actuation member 1315 or focus drive 1360 as shown. By surrounding actuation member 1315 or focus drive 1360, actuation member 1315 may move to apply a mechanical force F to focus drive 1360 while sealing member 1370 maintains an airtight seal of optical chamber 1340. In some embodiments, sealing member 1370 may be configured as a sealing assembly that includes at least one O-ring (e.g., a high temperature O-ring such as polymerized fluororubber dimer) and an optional dust seal. In some embodiments, the sealing member 1370 can be configured as a metal bellows configured to move between a collapsed configuration and an expanded configuration in response to a control input.

[0069] Reference now Figure 2-11 , in which various views of the imaging device 2300 according to an embodiment are presented. In some embodiments, the imaging device 2300 or any component thereof may be configured as a handheld endoscope for use in imaging a target location TL (e.g., a surgical site) in a spatially constrained environment. In some embodiments, the imaging device 2300 or any component thereof is optionally part of a surgical system that performs minimally invasive surgical procedures and may include a manipulator unit, a series of kinematic links, a series of cannulas, etc.

[0070] Figure 2 2300. As shown, the imaging device 2300 includes an elongated body 2310 that extends longitudinally between a proximal end portion 2312 and a distal end portion 2313. The distal end portion 2313 is coupled to (or forms a portion of) a distal tip 2314. A proximal mechanical assembly 2750 is coupled to the proximal end portion 2312 of the elongated body 2310. The proximal mechanical assembly 2750 is configured to couple with a receiving unit (not shown). The proximal mechanical assembly 2750 is also configured to receive control inputs from a user of the imaging device. For example, in some embodiments, a user of the imaging device 2300 may manipulate a first input wheel 2754 for adjusting the orientation of the distal tip 2314 and / or a second input wheel 2756 for adjusting the focal length of the imaging device 2300. In some embodiments, the imaging device 2300 is controlled by a surgical system to image a target location.

[0071] Figure 3 is an end view of the distal tip 2314 of the imaging device 2300, Figure 4is a perspective view of the distal end portion 2313 of the imaging device 2300 with the elongated body removed, Figure 5 is a cross-sectional side view of the distal end portion 2313, and Figure 6 23 is a perspective view of the optical chamber 2340 of the imaging device 2300. Figure 5 As shown, the elongated body 2310 defines a channel 2311 that extends longitudinally through the elongated body 2310 between a proximal end portion 2312 and a distal end portion 2313 of the elongated body 2310. The distal end portion 2313 is coupled to a distal tip 2314. In some embodiments, the elongated body 2310 has a maximum outer diameter OD that is sized to pass through a body hole and / or a cannula. In other words, the maximum outer diameter OD may be limited by the minimum inner diameter of the body hole and / or cannula. For example, in order to image a target location TL through a body hole and / or a cannula ( Fig. 9 ), the maximum outer diameter of the elongated body 2310 can be less than 6 mm (e.g., 5.5 mm, 5.0 mm, between 4.5 mm and 6.0 mm, between 5.0 mm and 6.0 mm, and any suitable range therebetween). It should be understood that the necessity of passing through a body hole and / or cannula to reach the target location TL imposes a limit on the maximum outer diameter, which limits the available volume within the channel 2311 that can be used for the imaging system 2330.

[0072] In some embodiments, the imaging device 2300 includes a fiber bundle 2320 positioned within a channel 2311 of the elongated body 2310. The fiber bundle 2320 includes an input end operably coupled to a light source (not shown), which may be an element of the proximal mechanical assembly 2750. The fiber bundle 2320 also includes an output end 2322 positioned at the distal tip 2314. At least a portion of the fiber bundle 2320 may be configured to be in fluid communication with the target location TL. In other words, due in part to the limited maximum outer diameter of the elongated body 2310, the output end 2322 is not positioned behind a sealed sapphire window or other fluid shielding portion. It is not required to include a sealed sapphire window or other similar structure that isolates the output end 2322 from the target location TL fluid, which is conducive to providing illumination while meeting the size restrictions imposed by the maximum outer diameter OD of the elongated body 2310.

[0073] In some embodiments, the imaging device 2300 includes an imaging system 2330 positioned within the elongated body 2310. For example, the imaging system 2330 can be positioned within the distal end portion 2313 of the elongated body 2310. However, in some embodiments, the imaging system 2330 can extend along the longitudinal length of the elongated body 2310 to the proximal portion.

[0074] The imaging system 2330 includes an optical chamber 2340. The optical chamber 2340 (i.e., the boundaries of the optical chamber 2340) is at least partially defined by a housing 2342. In some embodiments, as described more fully below, the optical chamber 2340 may also be defined by the distal tip 2314, the sapphire window 2384, the image sensor 2850, the sealing member 2370, the focus drive 2360 or the actuation member 2315, and the sealed couplings therebetween. For example, the sealed couplings between the various components defining the optical chamber 2340 may be glue joints, weld joints, and / or solder joints. In order to isolate the components of the imaging system 2330 positioned therein from moisture encountered during the target location TL and / or post-procedure processing, the optical chamber 2340 is hermetically sealed. In other words, the volume defined by the optical chamber 2340 is fluidly isolated from the surrounding environment so that liquids, vapors, and / or gases are prevented from flowing between the volume defined by the optical chamber 2340 and the surrounding environment. By maintaining an airtight seal of optical chamber 2340, the effects of moisture (eg, fogging or condensation) on optical components positioned therein are eliminated.

[0075] like Figure 5 As shown, the imaging system 2330 includes a focus element 2350 movably disposed within the optical chamber 2340. In addition, the image sensor 2850, which may be a sensor that converts light waves into electrical signals (e.g., a charge coupled device or an active pixel sensor), is operably coupled to the focus element 2350. Thus, the optical path extends from the target location TL to the distal tip 2314, through the focus element 2350, and to the image sensor 2850. The focus element 2350 may facilitate changing the focus of the imaging system 2330. In some embodiments, in order to adjust the focus of the imaging system 2330 by moving the focus element 2350, a focus actuator 2360 is positioned within the optical chamber 2340. The focus actuator 2360 is operably coupled to the focus element 2350 and is configured to move the longitudinal position of the focus element 2350 in response to a control input while the image sensor 2850 is maintained at a fixed longitudinal position relative to the elongated body 2310. In some embodiments, a portion of focus driver 2360 is positioned proximal to image sensor 2850 and is configured to receive control input from actuation member 2315. Actuation member 2315 is positioned within elongated body 2310 and may be configured to apply a mechanical force to focus driver 2360.

[0076] In some embodiments, the actuation member 2315 can be an actuation rod positioned within the elongated body 2310 and coupled between the proximal mechanical assembly 2750 and the focus drive 2360. The actuation member 2315 can be rigid or semi-rigid and include a set of bends to mate the actuation member with the channel 2311 of the elongated body 2310. In some embodiments, the actuation member 2315 can be a strap or cable. When coupled with the proximal mechanical assembly 2750, control inputs received by the proximal mechanical assembly 2750 can be transmitted to the imaging system 2330 via the actuation member 2315. For example, in response to a control input presented to the proximal mechanical assembly 2750, the actuation member 2315 can apply a mechanical force to the focus drive 2360. In some embodiments, the mechanical force is applied to the focus drive 2360 in a longitudinal direction.

[0077] Fig. 9 is a side view of imaging system 2330 with a portion of housing 2342 removed for clarity, and Fig.10 23 is an exploded view of an imaging system 2330 according to an embodiment. As shown, the imaging system 2330 includes a set of optical elements 2380. The optical element 2380 is a component of the imaging system 2330 that acts on light from the target location TL to the image sensor 2850. For example, in some embodiments, the optical element 2380 includes a sapphire window 2384, which is positioned at the distal tip 2314 and is hermetically coupled thereto to define a portion of the optical chamber 2340. In addition, in some embodiments, the optical element 2380 also includes a lens group 2386. The lens group 2386 is supported and maintained at a fixed longitudinal position by a lens mount 2387. As shown, the fixed longitudinal position of the lens group 2386 is distal to the focusing element 2350. The fixed longitudinal position of at least a portion of the lens group 2386 is proximal to the distal tip 2314.

[0078] A set of optical elements 2380 (e.g., lens group 2386) is positioned to establish an optical axis OA from the target location TL through the focusing element 2350. In addition, the set of optical elements 2380 establishes an optical path from the target location through the focusing element 2350 and onto the image sensor 2850. The optical path describes the path of travel of a portion of the light directed to the image sensor 2850 via the distal tip 2314 and the focusing element 2350. In some embodiments, the image sensor 2850 is offset from the optical axis OA defined by the optical elements 2380. For example, in some embodiments, the image sensor 2850 may be positioned at a position radially outward relative to the optical axis OA. The offset of the image sensor 2850 from the optical axis OA may facilitate regulating the longitudinal position of the focusing element 2350 in response to a control input provided to the proximal mechanical assembly 2750.

[0079] In some embodiments, in order to establish an optical path between the target location TL and the image sensor 2850 offset from the optical axis OA, a set of optical elements 2380 may include a prism 2382. The prism 2382 may be positioned longitudinally between the focus actuator 2360 and the focus element 2350. The prism 2382 may be positioned to transfer a portion of the light from the optical axis OA to the image sensor 2850. As shown, a command input (e.g., a mechanical force) is received by the focus actuator 2360 at a position proximal to the prism 2382, which may bypass the prism 2382 maintained at a fixed longitudinal position to adjust the longitudinal position of the focus element 2350. In other words, in response to the control input provided to the proximal mechanical assembly 2750, the actuating member 2315 applies a force (e.g., a tensioning force) to the focus actuator 2360 in the longitudinal direction. The focus actuator 2360 transmits the force to the focus element 2350 via the movable lens holder 2390. The movable lens holder 2390 is positioned within the optical chamber 2340 (e.g., within the housing 2342). In some embodiments, the movable lens holder includes a middle portion 2392 extending between a distal end 2394 and a proximal end 2396. For example, the focus adjustment element 2350 can be coupled to the distal end 2394 of the movable lens holder 2390. Fig.11 As shown, the proximal end 2396 of the movable lens holder 2390 is coupled to the focus actuator 2360. The middle portion 2392 of the movable lens holder 2390 is positioned radially outward of the prism 2382. In other words, the prism 2382 is between the movable lens holder 2390 and the image sensor 2850. As another example, the middle portion 2392 of the movable lens holder 2390 is positioned between the prism 2382 and the housing 2342 at a longitudinal position of the prism 2382.

[0080] When in use, the focus actuator 2360 transmits force to the focus element 2350 via the proximal end 2396 of the movable lens holder 2390 through the coupling therebetween. When the distal end 2394 of the focus actuator 2360 is coupled to the proximal end 2396 via the intermediate portion 2392, the focus element 2350 moves longitudinally under the action of mechanical force without adjusting the longitudinal position of the prism 2382 and the image sensor 2850 optically coupled thereto. It should be understood that, alternatively, the prism 2382 may also be supported by (e.g., coupled to) the movable lens holder 2390 so that the prism 2382 can move together with the focus element 2350.

[0081] Figure 7 is with Figure 5 A cross-sectional side view of the distal portion of the same imaging device 2300 of the configuration described in FIG. Figure 7As shown, the focusing element 2350 is positioned at a first longitudinal position LP1 (relative to a fixed point on the housing 2342, such as the flange portion 2344), and the focus actuator 2360 is at a first focus position FP1 (relative to a fixed point on the housing 2342, such as the flange portion 2344). Under the condition that the focusing element 2350 is positioned at the first longitudinal position LP1, the imaging system 2330 has a first focus distance. In some embodiments, the first focus distance is a default focus distance. Therefore, in some embodiments, the first focus position FP1 maximizes the longitudinal distance between the image sensor 2850 and / or the prism 2382. In some embodiments, in order to establish and / or maintain the default focus distance, an energy storage device 2363 (e.g., a spring, an elastic member, an inflatable member, or other similar structure) is positioned between a portion of the housing 2342 (e.g., the flange portion 2344) and a portion of the focus actuator 2360. The energy storage device 2363 can be configured to apply a biasing force to the focus actuator 2360. For example, as shown, the energy storage device 2363 can bias the focus driver 2360 and the focus adjustment element 2350 toward the far side of the first focus position FP1. However, in some embodiments, the energy storage device 2363 can be configured to bias the focus driver 2360 toward the near side.

[0082] Figure 82 is a cross-sectional side view of the distal portion of the imaging device 2300, wherein the focusing element 2350 is positioned at the second longitudinal position LP2 and the focusing driver 2360 is at the second focusing position FP2. Under the condition that the focusing element 2350 is positioned at the second longitudinal position LP2, the imaging system 2330 has a second focusing distance. The second focusing position FP2 is proximal to the first focusing position FP1. The second focusing distance is greater than the first focusing distance. In other words, the second focusing position FP2 can minimize the longitudinal distance between the image sensor 2850 and / or the prism 2382, thereby increasing the focusing distance of the imaging system 2330 and establishing a maximum focusing distance relative to the default focusing distance. Therefore, the mechanical force applied by the actuating member 2315 to the focusing driver 2360 can be a tensioning force applied in the proximal direction. The magnitude of the tensioning force can be greater than the biasing force of the energy storage device 2363. Thus, in response to the control input provided to the proximal mechanical assembly 2750, the focus driver 2360 may move from the first focus position FP1 to the second focus position FP2 in response to the tension force applied by the actuation member 2315. It should be understood that in some embodiments, the default position of the focus driver 2360 may correspond to the second focus position FP2, at which the focus distance of the imaging system 2330 is the farthest focus distance, and the energy storage device 2363 applies a tension force to the focus driver 2360. In such embodiments, the actuation member 2315 may be configured to apply a compressive force to the focus driver 2360 to cause the focus driver 2360 to move distally to the first focus position FP1 to establish the closest focus distance.

[0083] To maintain an airtight seal, imaging system 2330 includes a sealing member 2370 coupled to housing 2342. For example, sealing member 2370 can be coupled to a proximal end portion of housing 2342. Sealing member 2370 is configured to maintain an airtight seal of optical chamber 2340 when a control input modulates focus actuator 2360. In some embodiments, sealing member 2370 surrounds a proximal portion of actuation member 2315 or focus actuator 2360 (e.g., Figure 5 23). By surrounding actuation member 2315 or focus drive 2360, actuation member 2315 can move to apply mechanical force to focus drive 2360 while sealing member 2370 maintains an airtight seal of optical chamber 2340. As shown, in some embodiments, sealing member 2370 can be configured as a metal bellows that is configured to move between a collapsed configuration and an expanded configuration in response to a control input. Figure 7 and Fig.10 As shown, the sealing member 2370 in the collapsed configuration is represented by element number 2370a, and as shown Figure 8 and Fig.10 As shown, sealing member 2370 in an expanded configuration is indicated by element number 2370b.

[0084] like Figure 7 As shown, when the focus actuator 2360 is at the first focus position FP1, the sealing member 2370 has a collapsed configuration. Figure 8 As shown, when the focus drive 2360 is at the second focus position FP2, the sealing member 2370 has an expanded configuration. Therefore, the sealing member 2370 is configured to move between the collapsed configuration and the expanded configuration when the control input causes the focus drive 2360 to move between the first focus position FP1 and the second focus position FP2. As a metal bellows, the sealing member 2370 has a distal end 2371 and a proximal end 2372, which can be fixedly connected (e.g., by welding, solder bonding, press fit and / or adhesive) to different components of the imaging system 2330 that can move relative to each other. When the distal end 2371 is fixedly connected to the first component (e.g., the housing 2342) and the proximal end 2372 is fixedly connected to the second component (e.g., the focus drive 2360 or the actuating member 2315), the sealing member 2370 can maintain an airtight seal of the optical chamber 2340 when the second component moves relative to the first component. The ability of sealing member 2370 to maintain an airtight seal of optical chamber 2340 as the components move relative to one another facilitates control inputs to adjust focus actuator 2360 without disrupting the airtight seal of optical chamber 2340. Thus, an operator of imaging device 2300 can position focus adjustment element 2350 as desired via mechanical inputs while the elements of imaging system 2330 within optical chamber 2340 are isolated from the environment surrounding optical chamber 2340.

[0085] Refer to Figure 7 and Figure 8In some embodiments, the housing 2342 may include a flange portion 2344. The flange portion 2344 may be integrally formed with the housing 2342, or may be formed separately and coupled to the remaining portion of the housing 2342, which may include an additional portion (e.g., a half). The distal end 2371 of the sealing member 2370 may be fixedly coupled to the flange portion 2344. The flange portion 2344 and the distal end 2371 of the sealing member 2370 coupled thereto are maintained at a fixed longitudinal position. In addition, the focus drive 2360 may also include a proximal portion 2361 extending longitudinally through the flange portion 2344. The proximal end 2372 of the sealing member 2370 may be fixedly coupled to the proximal portion 2361 of the focus drive 2360. Therefore, when the focus drive 2360 moves longitudinally in response to the force applied by the actuating member 2315, the proximal end 2372 of the sealing member 2370 moves longitudinally together with the proximal portion 2361. In other words, when the proximal portion 2361 of the focus driver 2360 moves a certain distance in the proximal direction in response to the tensioning force applied by the actuation member 2315, the proximal end 2372 of the sealing member 2370 also moves the same distance in the proximal direction while the distal end 2371 remains at a fixed longitudinal position of the flange portion 2344. The movement of the proximal end 2372 transitions the sealing member 2370 from the collapsed configuration to the expanded configuration while the distal end 2371 remains at a fixed longitudinal position. It should be understood that in some embodiments, the proximal end 2372 can be fixedly coupled to the actuation member 2315 instead of the proximal portion 2361.

[0086] As previously described, the boundaries of optical chamber 2340 define a hermetically sealed volume V (at Figure 72370). However, due to the stretchable nature of sealing member 2370, volume V of optical chamber 2340 may change depending on the configuration of sealing member 2370. For example, in some embodiments, when sealing member 2370 is in a collapsed configuration, optical chamber 2340 has a first volume; and when sealing member 2370 is in an expanded configuration, optical chamber 2340 has a second volume. The second volume may be greater than the first volume. In other words, when focus driver 2360 moves from a first focus position FP1 where sealing member 2370 is in a collapsed configuration to a second focus position FP2 where the sealing member is in an expanded configuration, volume V of optical chamber 2340 increases. It should be understood that other elements of imaging system 2330, such as housing 2342, distal tip 2314, sapphire window 2384, image sensor 2850, and sealed couplings therebetween, form the boundaries of optical chamber 2340, and the other elements are maintained in fixed positions relative to each other. Thus, the size of volume V of optical chamber 2340 changes depending on the longitudinal positioning of focus driver 2360 or actuation member 2315 and the configuration of sealing member 2370. It will also be appreciated that the optical chamber is hermetically sealed in both the first and second volumes, and in the transition phase therebetween.

[0087] Refer to Figure 5 In some embodiments, the image sensor can be operably coupled to a circuit board 2852. The circuit board 2852 can be positioned within the channel 2311 of the elongated body 2310. As shown, the circuit board 2852 is outside the optical chamber 2340. However, in other embodiments, the circuit board 2852 can be positioned within the optical chamber 2340. The circuit board 2852 can be configured to process the electrical signals generated by the image sensor 2850 and transmit the processed signals to a display and / or controller. The circuit board 2052 can also include additional sensors such as a position sensor 2854. The position sensor 2054 can be used to determine the longitudinal position of the focus drive 2360 and / or the actuation member 2315.

[0088] Fig.12 is a schematic diagram of a proximal portion of another imaging device 3300 that can be used to image a target location. Imaging device 3300 may include any of the elements and components described herein with reference to imaging device 1300 and / or imaging device 2300. In some embodiments, imaging device 3300 or any component thereof may be configured as a handheld endoscope for imaging a target location (e.g., a surgical site) in a spatially constrained environment. In some embodiments, imaging device 3300 or any component thereof may optionally be part of a surgical system that performs minimally invasive surgical procedures and may include a manipulator unit, a series of kinematic linkages, a series of cannulas, and the like.

[0089] In some embodiments, the imaging device 3300 includes an elongated body 3310 extending longitudinally between a proximal end portion 3312 and a distal end portion (not shown). As described above with reference to the imaging device 2300, the distal end portion is coupled to the distal tip. A proximal mechanical assembly 3750 is coupled to the proximal end portion 3312 of the elongated body 3310. The proximal mechanical assembly 3750 is configured to be coupled to a receiving unit (not shown). The proximal mechanical assembly 3750 is also configured to receive control inputs from a user of the imaging device. For example, in some embodiments, a user of the imaging device 3300 may manipulate a first input wheel (not shown) for adjusting the orientation of the distal tip and / or a second input wheel 3756 for adjusting the focal length of the imaging device 3300. In some embodiments, the imaging device 3300 is controlled by the surgical system to image at a target location.

[0090] As shown, in some embodiments, the imaging device 3300 includes an imaging system 3330 positioned within the elongated body 3310 and partially within the proximal mechanical assembly 3750. Thus, the imaging system 3330 can extend along the longitudinal length of the elongated body 3310 to the distal portion of the elongated body 3310. Specifically, the imaging system 3330 includes an optical chamber 3340 that extends the length of the elongated body 3310 and is at least partially within the proximal mechanical assembly 3750. The optical chamber 3340 (i.e., the boundary of the optical chamber 3340) is at least partially defined by a housing 3342 that extends the length of the elongated body 3310. In some embodiments, the boundary of the optical chamber 3340 is also defined by: a portion of the proximal mechanical assembly 3750, a diaphragm 3758 positioned within the proximal mechanical assembly 3750, a sealing member 3370, an actuation member 3315, and a sealing coupling therebetween. For example, the sealed couplings between the various components defining the optical chamber 3340 may be glue joints, welded joints, and / or solder joints. In order to isolate the components of the imaging system 3330 positioned therein from moisture encountered during the target location TL and / or post-procedure processing, the optical chamber 3340 is hermetically sealed. In other words, the volume defined by the optical chamber 3340 is fluidly isolated from the surrounding environment so that liquids, vapors, and / or gases are prevented from flowing between the volume defined by the optical chamber 3340 and the surrounding environment. By maintaining the hermetic seal of the optical chamber 3340, the effects of moisture (e.g., fogging or condensation) on the optical components positioned therein are eliminated. By extending the housing 3342 the length of the elongated body 3310, various electronic components (not shown) can be positioned within the housing 3342 and isolated from the environment surrounding the optical chamber 3340.

[0091] like Fig.12As shown, the actuation member 3315 can be in contact with the second input wheel 3756, so that the rotation of the second input wheel 3756 causes the longitudinal movement of the actuation member 3315. As previously described with respect to the imaging device 2300, the movement of the actuation member 3315 can change the focal length of the imaging device 3300 by applying a mechanical force. An airtight seal between a portion of the proximal mechanical assembly 3750 and the actuation member 3315 can be achieved by a sealing member 3370 disposed therebetween. When the actuation member 3315 is longitudinally moved by the second input wheel 3756, the sealing member 3370 can be configured to maintain an airtight seal. Therefore, the sealing member 3370 can maintain an airtight seal of the optical chamber 3341 of the control input, regulating the positioning of the focus element (e.g., the focus element 1350 and / or the focus element 2350). To further facilitate maintaining an airtight seal as actuation member 3315 moves, a proximal boundary of optical chamber 3340 can be formed by a diaphragm 3758 positioned within proximal mechanical assembly 3750 .

[0092] Fig.13 is a flow chart of a method 60 for imaging a target location according to an embodiment. In an embodiment, the method 60 may be performed by, for example, Figure 2-11 The method 60 may be performed by an imaging device such as the imaging device 2300 described herein. However, it should be understood that in various embodiments, various aspects of the method 60 may be performed via an imaging device 2300 (such as the imaging device 1300 or the imaging device 3300 as described herein) or additional embodiments of its components. Thus, the method 60 may be implemented on any suitable device as described herein. Therefore, the method 60 will be described below with reference to the imaging device 2300 as previously described, but it should be understood that the method 60 may use any imaging device described herein.

[0093] As shown at 61, method 60 includes orienting a distal tip of an imaging device toward a target location. The imaging device includes a channel extending longitudinally through the elongated body between a proximal end portion of the elongated body and a distal end portion of the elongated body, the elongated body being coupled to the distal tip and an imaging system positioned within the elongated body. The imaging system includes an optical chamber at least partially defined by a housing and hermetically sealed. A focusing element is movably positioned within the optical chamber and an image sensor is operably coupled to the focusing element. In addition, a focus drive is positioned within the optical chamber and is operably coupled to the focusing element. The focus drive is configured to move a longitudinal position of the focusing element in response to a control input. In addition, a sealing member is coupled to the housing and is configured to maintain an airtight seal of the optical chamber. As shown at 62, method 60 includes positioning the focusing element at a longitudinal position while maintaining an airtight seal by providing a control input to the focus drive. In addition, as shown at 63, method 60 includes directing a portion of light to the image sensor via the distal tip and the focusing element to image the target location.

[0094] Although various embodiments are described above, it should be understood that the embodiments are presented by way of example only and are not limiting. Where the above methods and / or schematic diagrams indicate that some events and / or process patterns occur in a certain order, the order of some events and / or operations may be modified. Although embodiments of the present invention have been specifically shown and described, it should be understood that various changes may be made to the form and details.

[0095] For example, any of the components of the device as described herein may be made of any material, such as medical grade stainless steel, nickel alloys, titanium alloys, etc. In addition, any of the sealing members, housings, or other components described herein may be composed of multiple parts that are subsequently joined together. For example, in some embodiments, the sealing member may be manufactured by joining independently constructed components together. However, in other embodiments, any of the sealing members, housings, or components described herein may be constructed as a whole.

[0096] Although various embodiments have been described as having particular features and / or component combinations, other embodiments may also have any features and / or component combinations of any of the above-described embodiments. Aspects of the invention have been described in the general context of medical devices, more specifically surgical devices, but aspects of the invention are not limited to use in medical devices.

Claims

1. An imaging device, comprising: an elongated body defining a passage extending longitudinally therethrough between a proximal end portion of the elongated body and a distal end portion of the elongated body, the distal end portion being coupled to a distal tip; as well as an imaging system positioned within the elongated body, the imaging system comprising: an optical chamber at least partially defined by the housing, said optical chamber being hermetically sealed, a focusing element movably positioned within the optical chamber, an image sensor operably coupled to the focusing element, a focus actuator positioned within the optical chamber and operably coupled to the focus adjustment element, the focus actuator being configured to move a longitudinal position of the focus adjustment element in response to a control input, and A sealing member is coupled to the housing, the sealing member being configured to maintain an airtight seal of the optical chamber when the control input regulates the focus actuator.

2. The imaging device according to claim 1, further comprising: a proximal mechanical assembly coupled to the proximal end portion of the elongated body, the proximal mechanical assembly configured to receive the control input; as well as An actuation member is positioned within the elongated body and coupled between the proximal mechanical assembly and the focus drive, the actuation member being configured to apply a mechanical force to the focus drive in a longitudinal direction in response to the control input.

3. The imaging device according to claim 1, wherein: The housing includes a flange portion; The focus drive includes a proximal portion extending longitudinally through the flange portion; and The sealing member has a distal end coupled to the flange portion and a proximal end coupled to the proximal portion of the focus drive.

4. The imaging device according to claim 1, further comprising: An energy storage device is positioned between a portion of the housing and a portion of the focus actuator, the energy storage device being configured to apply a biasing force to the focus actuator.

5. The imaging device according to claim 1, further comprising: A plurality of optical elements are positioned to establish an optical axis from a target location through the focusing element.

6. The imaging device according to claim 1, wherein: The imaging system includes a movable lens holder; The movable lens holder includes a middle portion extending between a distal end and a proximal end; The focus adjustment element is coupled to the distal end of the movable lens holder; The proximal end of the movable lens holder is coupled to the focus actuator; and The intermediate portion of the movable lens holder is positioned radially outward of the prism such that the prism is between the movable lens holder and the image sensor.

7. The imaging device according to claim 1, wherein: The image sensor is offset from an optical axis defined by the plurality of optical elements.

8. A method for imaging a target location, the method comprising: directing a distal tip of an imaging device toward the target location, the imaging device comprising: a passage extending longitudinally through an elongated body between a proximal end portion of the elongated body and a distal end portion of the elongated body coupled to the distal tip; and an imaging system positioned within the elongated body, the imaging system comprising: an optical chamber at least partially defined by the housing, said optical chamber being hermetically sealed, a focusing element movably positioned within the optical chamber, an image sensor operably coupled to the focusing element, a focus actuator positioned within the optical chamber and operably coupled to the focus adjustment element, the focus actuator being configured to move a longitudinal position of the focus adjustment element in response to a control input, and a sealing member coupled to the housing, the sealing member configured to maintain the hermetic seal of the optical chamber; positioning the focus adjustment element at the longitudinal position while maintaining the hermetic seal by providing a control input to the focus actuator; and A portion of the light is directed via the distal tip and the focusing element onto the image sensor to image the target location.

9. The method according to claim 8, wherein: The imaging device includes a proximal mechanical assembly coupled to the proximal end portion of the elongated body, and an actuation member positioned within the elongated body and coupled between the proximal mechanical assembly and the focus drive; and The method comprises: providing control input to the proximal mechanical assembly, and The hermetic seal of the optical chamber is maintained while applying a mechanical force to the focus drive in a longitudinal direction via the actuation member in response to the control input.

10. The method according to claim 9, wherein: When the focus actuator is in a first focus position, the longitudinal position of the focus adjusting element is a first longitudinal position and the imaging system has a first focus distance, and the mechanical force is a tensioning force, the method further comprising: The tensioning force is applied to the focus drive to move the focus drive longitudinally from the first focus position to a second focus position proximal to the first focus position, and when the focus drive is in the second focus position, the focus element is in a second longitudinal position and the imaging system has a second focus distance, which is greater than the first focus distance.

Images