Lens cleaning system and method for a surgical camera - Patents.com

Abstract

The present disclosure provides a system and method for cleaning a lens of an imaging device during a surgical procedure within an individual. The imaging device includes a lens, and a wiping object is positioned a distance away from the imaging device that is configured to contact and move along a path of the device to clean the device. The present disclosure provides a method for initiating automatic cleaning of the lens during a procedure, the method including using an eye tracking device adapted and coupled to an individual that can track the movements of the individual to actuate cleaning.

Description

[Technical field]

[0001] cross reference This application claims the benefit of U.S. Provisional Patent Application No. 63 / 166,587, filed March 26, 2021, which is hereby incorporated by reference in its entirety. [Background technology]

[0002] Many surgical procedures utilize cameras and scopes to visualize the anatomical structures. The lenses of the camera or endoscope may become dirty or fogged during the procedure. Summary of the Invention [Means for solving the problem]

[0003] Described herein are systems and methods for cleaning a lens or window of a camera or endoscope that is placed within an individual's body during a medical or surgical procedure, where cleaning of the lens or window occurs in a manner that does not require removal of the camera or endoscope from the individual's body.

[0004] Provided herein is a system for cleaning a lens or window of an imaging device during a surgical procedure in a patient, the system comprising: an imaging device comprising a lens or window; and a wiping object positioned an offset distance away from the imaging device and configured to contact at least a portion of the lens or window as the imaging device moves along a path using one or more degrees of freedom of the imaging device. In some embodiments, the imaging device comprises a camera or an endoscope. In some embodiments, contacting the wiping object with the portion of the lens or window and moving the wiping object relative to the portion of the lens removes matter from at least a portion of a surface of the lens or window. In some embodiments, the matter comprises blood, fatty tissue, bodily fluids, irrigation, condensation, or a combination thereof. In some embodiments, moving the wiping object with respect to the portion of the lens or window comprises moving the imaging device with respect to the wiping object. In some embodiments, moving the imaging device comprises a rotation, a translation, or a combination thereof. In some embodiments, moving the wiping object with respect to the portion of the lens or window comprises the wiping object being stationary. In some embodiments, moving the wiping object relative to a portion of the lens or window includes moving the wiping object relative to the imaging device. In some embodiments, the imaging device moves relative to the wiping object at a speed between about 0.5 mm / sec and about 10.0 mm / sec. In some embodiments, the wiping object and the imaging device do not contact when cleaning of the lens or window is not occurring. In some embodiments, the body of the imaging device is positioned at a distance from the wiping object. In some embodiments, the distance is at least about 0.1 mm to about 1.0 mm. In some embodiments, the wiping object does not cover at least a portion of the lens or window of the imaging device during the medical or surgical procedure. In some embodiments, the imaging device comprises a first lens and a second lens, the first lens being positioned behind the first window and the second lens being positioned behind the second window. In some embodiments, the wiping object is configured to continuously contact at least a portion of the first window and at least a portion of the second window.In some embodiments, the system comprises an additional wiping object, the wiping object configured to contact at least a portion of the first window, and the additional wiping object configured to contact at least a portion of the second window. In some embodiments, the wiping object is configured to contact at least a portion of the first window, and the additional wiping object is configured to simultaneously contact at least a portion of the second window. In some embodiments, the wiping object comprises a pad, sheet, or wiper, or a combination thereof. In some embodiments, the wiping object is sized to reduce drag across the lens or window surface as the wiping object moves relative to the lens. In some embodiments, the wiping object comprises a material that has been treated to increase lubricity. In some embodiments, the wiping object comprises a material that has been treated to increase resistance to fluid infiltration. In some embodiments, the wiping object comprises a flexible material. In some embodiments, the flexible material conforms to the lens or window surface when the wiping object is in contact with the lens or window. In some embodiments, the wiping object comprises a material that improves surface contact to the lens or window surface. In some embodiments, the wipe comprises a material that is compatible with one or more sterilization methods. In some embodiments, the wipe comprises a substantially non-porous surface. In some embodiments, the wipe comprises a fluoropolymer. In some embodiments, the fluoropolymer comprises expanded polytetrafluoroethylene (ePTFE). In some embodiments, the wipe comprises one or more layers of ePTFE. In some embodiments, the wipe comprises an inner layer comprising a material having a low compressive modulus and an outer layer of a fluoropolymer. In some embodiments, the lens comprises a stack of two or more lenses. In some embodiments, the stack of lenses is about 1 mm thick to about 10 mm thick. In some embodiments, the lens or window comprises glass, plastic, or a combination thereof. In some embodiments, the lens or window comprises a flexible material. In some embodiments, the lens or window comprises a coating.In some embodiments, the coating is laminated to a lens or window. In some embodiments, the coating provides increased hydrophobicity, hydrophilicity, oleophilicity, anti-fog, anti-reflective, scratch resistance, or a combination thereof. In some embodiments, the coating is applied to the lens or window through spraying, spin coating, chemical vapor deposition, physical vapor deposition, or immersion.

[0005] Described herein is a method for cleaning a lens or window of an imaging device during a medical or surgical procedure on an individual's body, the method including: (a) providing an imaging device for insertion into an individual's body, the imaging device coupled to a wiping object; and (b) contacting and moving the imaging device relative to the wiping object, the contacting and moving cleaning the lens or window of the imaging device. In some embodiments, the imaging device comprises a camera or an endoscope. In some embodiments, contacting the wiping object with a portion of the lens or window and moving the wiping object relative to the portion of the lens removes matter from at least a portion of a surface of the lens. In some embodiments, the matter includes blood, fatty tissue, bodily fluids, irrigation, condensation, or a combination thereof. In some embodiments, moving the wiping object relative to the portion of the lens or window includes moving the imaging device relative to the wiping object. In some embodiments, moving the imaging device includes a rotational, translational, or a combination thereof. In some embodiments, moving the wiping object relative to the portion of the lens or window includes the wiping object being stationary. In some embodiments, moving the wiping object relative to a portion of the lens or window includes moving the wiping object relative to the imaging device. In some embodiments, the imaging device moves relative to the wiping object at a speed of about 0.5 mm / sec to about 10.0 mm / sec. In some embodiments, the wiping object and the imaging device do not contact when cleaning of the lens or window is not occurring. In some embodiments, the body of the imaging device is positioned at a distance from the wiping object. In some embodiments, the distance is at least about 0.1 mm to about 1.0 mm. In some embodiments, the wiping object does not cover at least a portion of the lens or window of the imaging device during the medical or surgical procedure to allow visualization by the imaging device. In some embodiments, the imaging device comprises a first lens and a second lens, the first lens being positioned behind the first window and the second lens being positioned behind the second window.In some embodiments, the wiping object is configured to contact at least a portion of the first window and at least a portion of the second window sequentially. In some embodiments, the system includes an additional wiping object, where the wiping object is configured to contact at least a portion of the first window and the additional wiping object is configured to contact at least a portion of the second window. In some embodiments, the wiping object is configured to contact at least a portion of the first window and the additional wiping object is configured to contact at least a portion of the second window simultaneously. In some embodiments, the wiping object comprises a pad, sheet, or wiper, or a combination thereof. In some embodiments, the wiping object is sized to reduce drag across the surface of the lens or window as the wiping object moves relative to the lens or window. In some embodiments, the wiping object comprises a material that has been treated to increase lubricity. In some embodiments, the wiping object comprises a material that has been treated to increase resistance to fluid intrusion. In some embodiments, the wiping object comprises a flexible material. In some embodiments, the flexible material conforms to the surface of the lens or window when the wipe is in contact with the lens or window. In some embodiments, the wipe comprises a material that improves surface contact to the surface of the lens or window. In some embodiments, the wipe comprises a material that is compatible with one or more sterilization methods. In some embodiments, the wipe comprises a substantially non-porous surface. In some embodiments, the wipe comprises a fluoropolymer. In some embodiments, the fluoropolymer comprises expanded polytetrafluoroethylene (ePTFE). In some embodiments, the wipe comprises one or more layers of ePTFE. In some embodiments, the wipe comprises an inner layer comprising a material having a low compressive modulus and an outer layer of a fluoropolymer. In some embodiments, the lens comprises a stack of two or more lenses. In some embodiments, the stack of two or more lenses is about 1 mm thick to about 10 mm thick. In some embodiments, the lens or window comprises glass, plastic, or a combination thereof.In some embodiments, the lens or window comprises a flexible material. In some embodiments, the lens or window comprises a coating. In some embodiments, the coating is laminated to the lens or window. In some embodiments, the coating provides increased hydrophobicity, hydrophilicity, oleophilicity, anti-fog, anti-reflective, scratch resistance, or a combination thereof. In some embodiments, the coating is applied to the lens or window through spraying, spin coating, chemical vapor deposition, physical vapor deposition, or immersion. In some embodiments, moving the imaging device relative to the wiping object wipes the lens or window at least twice. In some embodiments, the moving imaging device relative to the wiping object wipes the lens or window at least five times. In some embodiments, the method further comprises recording an image score subsequent to (b).

[0006] Provided herein is a method for initiating automatic cleaning of an imaging device lens or window during a medical or surgical procedure, the method including: (a) providing an eye tracking device, the eye tracking device comprising eye tracking hardware; (b) coupling the eye tracking device to at least one eye of an individual performing the medical or surgical procedure; (c) providing an imaging device inserted into the individual's body, the imaging device coupled to a wiping object; (d) tracking the individual's movements; and (e) detecting an actuation in the movements to trigger the imaging device to contract and move relative to the wiping object, the contact and movement cleaning the imaging device lens or window. In some embodiments, the movements include eye movements. In some embodiments, the eye movements include blinking. In some embodiments, the blinking includes a single blink, the single blink lasting about 0.3 seconds. In some embodiments, the eye movements include focusing on a target object or location in space for a period of time. In some embodiments, the period of time is about 2 seconds. In some embodiments, the eye movement includes looking in a first direction and then looking in a second direction. In some embodiments, looking in the first direction and then looking in the second direction occurs within about 1 second. In some embodiments, the eye movement includes a sharp glance in the specified direction. In some embodiments, the specified direction is toward a camera coupled to the eye tracking device. In some embodiments, the eye tracking hardware comprises foveal tracking, computer vision, electrograms, contact lenses, or a combination thereof. In some embodiments, the eye tracking hardware comprises foveal tracking. In some embodiments, the eye tracking device is worn on the individual's head. In some embodiments, the eye tracking device is positioned at a distance from the individual and the camera tracks the at least one movement. In some embodiments, the eye tracking device is positioned within a stationary viewfinder. In some embodiments, the stationary viewfinder is a stereo microscope.

[0007] Additional aspects and advantages of the present disclosure will become readily apparent to those skilled in the art from the following detailed description, in which only exemplary embodiments of the present disclosure have been shown and described. As will be realized, the present disclosure is capable of other and different embodiments, and its several details can be modified in various obvious respects, all without departing from the present disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

[0008] Moreover, the headings provided herein are for convenience only and do not interpret the scope or meaning of the claimed disclosure. The section headings used herein are for organizational purposes only and are not to be construed as limiting the subject matter described.

[0009] Incorporation by Reference All publications, patents, and patent applications mentioned herein are incorporated by reference to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference. To the extent that the publications and patents or patent applications incorporated by reference conflict with the disclosure contained herein, the present specification is intended to supersede and / or take precedence over any such conflicting material. [Brief description of the drawings]

[0010] The novel features of the invention are set forth with particularity in the appended claims. A better understanding of the features and advantages of the present invention will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the invention are utilized, and the accompanying drawings.

[0011] [Figure 1] FIG. 1 shows a camera in a front-facing configuration along with a wiping object as described in some embodiments.

[0012] [Diagram 2]2 shows the camera in an orthogonal orientation to insertion, as described in some embodiments. In some embodiments, a manipulation may first be performed to align the camera with the wiping object.

[0013] [Diagram 3] 3 shows the camera facing downwards as described in some embodiments. In some embodiments, the camera may be moved beyond this position from a previous position so that the entire surface of the lens is cleaned.

[0014] [Figure 4] FIG. 4 shows a close-up view of a window and wiping object as described in some embodiments.

[0015] [Diagram 5] FIG. 5 shows a surgeon sitting at a control console operating a surgical robot as described in some embodiments.

[0016] [Figure 6] FIG. 6 shows a camera with an automatic wiper built in, as described in some embodiments.

[0017] [Figure 7] FIG. 7 illustrates an example of a computer system that may be programmed or configured to direct the operation of the devices or systems described herein. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Described herein are systems and methods for cleaning the lens or window of a camera or endoscope placed within an individual's body during a medical or surgical procedure, where cleaning of the lens or window occurs in a manner that does not require removal of the camera or endoscope from the individual's body. Cameras and endoscopes used during medical or surgical procedures may accumulate material on the lens of the camera or endoscope that results in obstruction of the view displayed by the camera or endoscope. Examples of materials that may accumulate on the lens of a camera or endoscope during a medical or surgical procedure include, but are not limited to, dirt, blood, fatty tissue, bodily fluids, irrigation, condensation, or combinations thereof.

[0019] The traditional approach to cleaning the lens of a camera or endoscope used in a medical or surgical procedure is to remove the camera or endoscope from the patient during the procedure and wipe the lens with a cleaning cloth / solution. In minimally invasive surgery (MIS), the cameras used for visualization within the patient often become dirty through normal operation. Debris on the lens can blur, darken, or obscure the patient's anatomy and otherwise make it difficult to continue operation. In manual and robotic laparoscopic procedures, it is common to physically remove the camera from the patient and manually wipe the lens to restore clear visualization.

[0020] The traditional approach of removing the camera or endoscope from the individual undergoing the procedure (e.g., the patient) to clean the lens or window of said camera or said endoscope is time consuming and disrupts the flow of the surgical procedure. Furthermore, in the case of surgical robotics or telemedicine, the surgeon is no longer at the side of the patient's bed to physically remove the camera or endoscope to clean the lens which can make traditional lens cleaning approaches even more disruptive to the medical or surgical procedure.

[0021] Cleaning the lens or window Described herein are systems and methods that use the movement of a camera or endoscope within the body of an individual undergoing a medical or surgical procedure to assist in cleaning the lens or window of the camera or endoscope. The systems and methods described herein include one or more mechanisms that move the camera or endoscope relative to a stationary wiping object within the body of the individual so that the lens or window of the camera or endoscope is cleaned by the wiping object. The advantage of the wiping object being stationary relative to the camera or endoscope within the body of an individual undergoing a medical or surgical procedure is that it is not necessary to add any additional control mechanism to actuate the wiping object to wipe the lens or window, as this occurs within the range of motion of the camera or endoscope (i.e., when the lens or window of the camera or endoscope is moved relative to the stationary wiping object). The camera can be moved relative to the stationary wiping object via an electrical signal, manual operation of a psychological mechanism, or a combination thereof.

[0022] Advantages of the systems and methods described herein generally include that the surgeon no longer needs an assistant to clean the camera while in the body, but can clean the camera lens with the push of a button. As mentioned above, no complex mechanical parts are required in addition to the mechanisms that cause the camera or endoscope movement.

[0023] Described herein is a system for cleaning a lens or window of an imaging device used in a medical or surgical procedure while the imaging device is within the body of an individual (e.g., a patient) undergoing the medical or surgical procedure, the system comprising: (a) an imaging device having a lens or window; and (b) a wiping object positioned an offset distance from the imaging device and configured to contact at least a portion of the lens or window as the imaging device moves along a path that uses one or more degrees of freedom of the imaging device.

[0024] Also described herein is a method for cleaning a lens or window of an imaging device used in a medical or surgical procedure while the imaging device is within the body of an individual (e.g., a patient) undergoing the medical or surgical procedure, the method including: (a) providing an imaging device for insertion into the body of the individual, where the imaging device is coupled to a wiping object; and (b) contacting and moving the imaging device relative to the wiping object, where the contacting and moving cleans the lens or window of the imaging device. In some embodiments, the imaging device may comprise a camera, an endoscope, or any other device capable of transmitting images.

[0025] In some embodiments, the wiping object is positioned at the distal end of the imaging device near the lens or observation window. In some embodiments, the window is positioned between the wiping object and the imaging device. In some embodiments, the lens is positioned between the wiping object and the body of the imaging device. In some embodiments, the lens may be in direct contact with the wiping object. In some embodiments, a translucent material (e.g., glass window, plastic window, coating) may be positioned between the lens and the wiping object. In some embodiments, the lens may be positioned behind the window. In some embodiments, the imaging device includes two or more lenses. In some embodiments, the imaging device includes two or more lenses, each lens positioned behind a window. In some embodiments, the wiping object is a wiper, and the wiper is activated while the window or lens of the imaging device is operating. In some embodiments, upon activation of the wiping object, an image score is determined and recorded.

[0026] The image score may be utilized to determine whether the lens or window needs to be wiped one or more additional times. In some embodiments, a low image score (e.g., an image with a value lower than a predetermined threshold) may indicate that the image transmitted from the imaging device is unclear or out of focus due to the presence of dirt or fluid on the lens or window. In such an embodiment, the system is triggered to wipe one or more additional times. In some embodiments, the low image score may be calculated as a function of the minimum threshold and the output wipe score, and may be presented as a percentage of the minimum threshold (e.g., a baseline measurement). For example, the metric may be a modulation transfer function (MTF) to restore the system to at least 70% of the minimum solubility requirement. The MTF may be a measurement of contrast at a particular line pair frequency (e.g., alternating black and white lines) in different regions of the field of view. In some examples, 20% contrast may need to be maintained at 200 line pairs per millimeter, and in such an example, wiping may restore the metric to at least 20%.

[0027] In some embodiments, the dimensions (eg, length, width, or depth) of the imaging device may be from about 1 mm to about 100 mm, from about 5 mm to about 100 mm, from about 5 mm to about 50 mm, or from about 5 mm to about 30 mm.

[0028] In some embodiments, the imaging device may include a lens. The lens may include a circular, oval, square, rectangular, or rounded square shape. In some embodiments, the lens has a dimension (e.g., length or width) of about 1 mm to about 50 mm, about 1 mm to about 25 mm, about 2 mm to about 10 mm, or about 3 mm to about 7 mm.

[0029] In some embodiments, the lens may comprise multiple lenses stacked on top of one another. In some embodiments, the lens may comprise a stack of two lenses, three lenses, four lenses, five lenses, six lenses, seven lenses, eight lenses, nine lenses, ten lenses, eleven lenses, twelve lenses, or more. In some embodiments, the total thickness of the lens or stack of lenses is from about 0.1 mm to about 12 mm, from about 1 mm to about 10 mm, or from about 1 mm to about 9 mm.

[0030] In some embodiments, the imaging device may include a window. In some embodiments, the window may be positioned between the wiping object and the lens of the imaging device. In some embodiments, the window may include a circular, oval, square, rectangular, or rounded square shape. In some embodiments, the window may have a substantially flat surface, a concave surface, or a convex surface. In some embodiments, the window has a dimension (e.g., length or width) of about 1 mm to about 50 mm, about 1 mm to about 25 mm, about 1 mm to about 10 mm, or about 4 mm to about 12 mm. In some embodiments, the window may include a thickness of about 0.1 mm to about 6 mm, about 0.1 mm to about 3 mm, about 0.1 mm to about 1 mm, or about 0.1 mm to about 0.3 mm.

[0031] In some embodiments, the imaging device comprises a light source. In some embodiments, the light source comprises a light emitting diode (LED). In some examples, the imaging device may comprise the same number of light sources as lenses. In some examples, the light sources may be positioned adjacent to the lenses. In some embodiments, the light sources may be positioned behind a window of the imaging device. In some embodiments, the imaging device may comprise a sensor. In some embodiments, the sensor detects the brightness of the target area imaged by the imaging device. In some embodiments, the brightness level of the target area for imaging detected by the sensor may be used to adjust the intensity of the light from the light source. In some embodiments, the imaging device may not comprise a sensor. In some embodiments, the imaging device may comprise multiple sensors. In some examples, the imaging device may comprise at least one sensor, two sensors, three sensors, four sensors, five sensors, or more. In some embodiments, the sensor may be positioned adjacent to the lens. In some embodiments, the sensor may be positioned adjacent to the light source. In some embodiments, the sensor may be positioned behind a window. In some embodiments, the lenses, light sources, and / or sensors may be positioned behind a single window. In some embodiments, the lens may be positioned behind a first window, and the light source and / or the sensor may be positioned behind a second window. In some embodiments, each lens of the imaging device may be positioned behind a first window, while each light source and / or sensor may be positioned behind a second window. For example, a binocular camera with two lenses and two light sources may have a total of four windows, with each lens and light source positioned behind a window. In another example, a binocular camera with two lenses, two light sources, and at least two sensors may have a total of four windows, with each lens and group of light sources and sensors positioned behind a window.

[0032] In some embodiments, the window or lens of the imaging device may include a non-flexible material. The non-flexible material may include glass, plastic, or a combination thereof. In some embodiments, the non-flexible window or lens may allow for more wiping on a surface without including the properties of the window or lens material. In some embodiments, the window or lens of the imaging device may include a flexible material. The flexible material may include a polymer (e.g., soft plastic), cellophane, an optically clear adhesive (e.g., tape), an optically clear elastomeric film (e.g., liquid lens). In some embodiments, the flexible window or lens may allow for removal of hardened fluid (e.g., blood) through deflection of the window or lens.

[0033] In some embodiments, the window or lens of the imaging device may be coated with a material that may impart anti-reflective (AR) properties, anti-fog properties, scratch-resistant properties, oleophobicity, hydrophobicity, hydrophilicity, or a combination thereof to the surface of the window or lens. The contact angle of a liquid droplet (e.g., water) on a hydrophobic or oleophobic surface may include angles of at least about 90 degrees (°), 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, 180°, or more. Fluid on a hydrophobic or oleophobic surface may include a reduction in surface tension between the fluid and the surface of the window or lens. The contact angle of a liquid droplet (e.g., water) on a hydrophilic surface may include angles of up to about 90°, 80°, 70°, 60°, 50°, 40°, 30°, 20°, 10°, or less. A fluid on a hydrophilic surface may induce increased surface tension between the fluid and the window or lens surface than a surface without the hydrophilic treatment. The coating may be applied to the lens or window surface via spraying methods, physical vapor deposition, chemical vapor deposition, dip coating, spin coating, or a combination thereof.

[0034] In some embodiments, the window or lens may be part of the body of the imaging device. In some embodiments, the window or lens may be integrated into the body of the imaging device.

[0035] In some embodiments, the window or lens may be offset a distance from the body of the imaging device. In some embodiments, the impact of foreign objects through the window or lens may be minimized by reinforcing the window or lens or increasing the thickness of the window or lens to increase resistance to breakage. In some embodiments, the impact of foreign objects through the window or lens may be minimized through application of a scratch-resistant coating. The scratch-resistant coating may include polysiloxane (e.g., Duravue®) or any other durable material (e.g., CleanVue™ PRO). In some embodiments, the impact of foreign objects through the window or lens may be minimized through application of a laminate on the window or lens. In such embodiments, pieces of the window or lens may be prevented from being removed upon breakage, but still provide a visual indication of the breakage. In some embodiments, the impact of foreign objects through the window or lens may be minimized by offsetting the body of the imaging device from the window or lens. The body and window or lens may be offset a distance as described elsewhere herein.

[0036] In some embodiments, the system may comprise a wiping object. The wiping object may comprise a wiper. In some embodiments, the wiping object may be referred to herein as a wiper. In some embodiments, the wiping object may comprise an elongated shape. In some embodiments, the wiping object may comprise a length up to about the dimension (e.g., length or width) of the window or lens. In some embodiments, the dimension length of the wiping object is about 1 mm to about 50 mm, about 1 mm to about 25 mm, about 1 mm to about 15 mm, or about 5 mm to about 15 mm. In some embodiments, the wiping object may comprise a thickness of about 0.05 mm to about 6.0 mm, about 0.1 mm to about 5.0 mm, about 0.1 mm to about 2.5 mm, or about 0.5 mm to about 2.5 mm. In some embodiments, the wiping object may have dimensions of about 9 mm x 3.5 mm x 1.6 mm. In some embodiments, the wiping object may be sized to reduce drag. In some embodiments, the wiping object may be sized to reduce friction as it moves relative to the lens or window.

[0037] In some embodiments, the wiper may include polyfluoroethylene. In some embodiments, the wiper may include PTFE or expanded (ePTFE). In some embodiments, the wiper material may include materials that may increase lubricity, increase resistance to fluid ingress, modify flexibility, increase resistance to sterilization methods, or combinations thereof.

[0038] In some embodiments, the wipe may comprise a pad, a sheet, a cloth, a combination thereof, or one or more layers thereof. In some embodiments, the wipe may comprise a circular, oval, square, rectangular, rounded square shape. In some embodiments, the wipe may comprise an irregular shape. In some embodiments, the wipe may have a dimension (e.g., length or width) of about 1 mm to about 50 mm, about 1 mm to about 30 mm, about 1 mm to about 15 mm, or about 5 mm to about 15 mm. In some embodiments, the wipe may comprise a thickness of about 0.05 mm to about 6 mm, about 0.1 mm to about 5 mm, or about 0.5 mm to about 5 mm. In some embodiments, the wipe may comprise a material that may increase lubricity, increase resistance to fluid ingress, modify flexibility, increase resistance to sterilization methods, or a combination thereof.

[0039] The wiping object may include a size, shape, hardness, or material that may reduce drag across the surface of the window or lens during cleaning (e.g., while the wiping object is moving relative to the imaging device). In some embodiments, a non-flexible lens or window may be paired with a hard (e.g., non-flexible) or soft (e.g., flexible) wiping object. In some embodiments, a flexible lens or window may be paired with a soft (e.g., flexible) wiping object.

[0040] In some embodiments, the wiping object may comprise a substantially non-porous surface. In some embodiments, the wiping object may comprise a fluoropolymer, cellulose (e.g., Sugi® sponge), silicone, polyethylene, or a combination thereof. In some embodiments, the wiping object may comprise ePTFE. In some embodiments, the wiping object may comprise one or more layers of material. In such embodiments, the wiping object may comprise an inner layer that may comprise a material comprising a low compression modulus and an outer layer that may comprise a fluoropolymer. The material comprising a low compression modulus may comprise a compression modulus of up to about 10 kPa, 100 kPa, 1 MPa, 10 MPa, or 100 MPa.

[0041] In some embodiments, the wiping object may include a material that may increase lubricity. In some embodiments, the wiping object may be treated with a material that may increase lubricity. The material that may increase lubricity may include polytetrafluoroethylene (PTFE, or Teflon™). In some embodiments, the wiping object may include a textured surface configured to reduce intermolecular forces between the wiping object and the surface of the lens or window. In some embodiments, the wiping object may include a superhydrophobic surface. In some embodiments, the wiping object may include a coating of a material that may increase lubricity. In some embodiments, such a coating may include LiquiGlide®. In some embodiments, the material for the wiping material may be selected to reduce drag of the wiping object across the lens or window. In some embodiments, the increased lubricity of the material results in reduced friction when the wiping object and the lens or window are moving relative to one another.

[0042] In some embodiments, the wipe may include a material that can increase resistance to fluid ingress. The fluid may include water, irrigation, blood, or any other bodily fluid. In some embodiments, the wipe may include a coating of a material that can increase resistance to fluid ingress. In some embodiments, the material that can increase resistance to fluid ingress may include a hydrophobic material (e.g., a water-impermeable material) or an oleophobic material.

[0043] In some embodiments, the wiping object may include a material that increases the flexibility of the wiping object. In some embodiments, the wiping object may include a flexible material. In some embodiments, the flexible material may conform to the surface of the lens or window when the wiping object is in contact with the lens or window. In some embodiments, the wiping object may include a material that may improve the surface contact of the wiping object to the surface of the lens or window. In some embodiments, the wiping object may include one or more materials that may increase the surface contact between the wiping object and the surface of the lens or window. In some embodiments, the thickness of the wiping object may be reduced, but the contact between the wiping object and the surface of the lens or window may be maintained through the wiping object including (e.g., coupled to) a spring or any other conforming material or device. In some embodiments, the wiping object may comprise multiple layers stacked on top of each other, or varying conformability or thickness. In such embodiments, variable conformability throughout the wiping object may be achieved to improve the surface contact between the wiping object and the surface of the window or lens. The shape, material, size, and thickness of the wiping object may be selected such that the interaction between the wiping object and the surface of the window or lens may be minimized. For example, the shape, material, size, and thickness of the wiping object may be tailored to minimize drag while maximizing the amount of dirt or fluid removed during cleaning.

[0044] In some embodiments, the wipe may include a material that is compatible with one or more sterilization methods. In some embodiments, the wipe may include a material that may increase resistance to degradation during a sterilization method. The sterilization method may include exposing the wipe to steam, ethylene oxide, or a combination thereof. In some embodiments, the wipe may include or be coated with a material that increases hydrophobicity to increase resistance to degradation when exposed to steam or ethylene oxide. In some embodiments, the wipe may include or be coated with a material that is substantially resistant to absorbing moisture. In some embodiments, the wipe may include or be coated with a material that is resistant to degradation when exposed to temperatures of at least about 50 degrees Celsius (°C), 60°C, 70°C, 80°C, 90°C, 100°C, 110°C, 120°C, 130°C, 140°C, 150°C, or higher.

[0045] In some embodiments, the wiping object is for single use. In some embodiments, the wiping object may be replaceable with a new wiping object. In some embodiments, the wiping object may be used more than once. In some embodiments, the wiping object may be fixed to the system and is not replaceable.

[0046] In some embodiments, a system or method described herein includes a camera or endoscope positioned relative to a wiping object within the body of an individual undergoing a medical or surgical procedure such that movement of the camera or endoscope relative to the wiping object wipes material from a lens or window of the camera or endoscope while the camera or endoscope remains within the individual's body, thereby resulting in cleaning of the lens or window. In some embodiments, moving the wiping object relative to a portion of the lens or window includes moving an imaging device relative to the wiping object. In some embodiments, contacting the wiping object with a portion of the lens or window and moving the wiping object with respect to a portion of the lens or window removes material from at least a portion of a surface of the lens or window. In some embodiments, contacting the wiping object with a portion of the lens or window and moving the lens or window relative to the wiping object removes material from at least a portion of a surface of the lens or window. In some embodiments, the wiping object may be stationary while the imaging device moves relative to the wiping object. In some embodiments, the imaging device may be stationary while the wiping object moves relative to the imaging device. In some embodiments, both the imaging device and the wiping object may move relative to each other.

[0047] In some embodiments, the movement (e.g., of the wiping object relative to the imaging device, or the imaging device relative to the wiping object) may include rotation, translation, or a combination thereof. In some embodiments, the moving may include back and forth movement from a fixed pivot point. In some embodiments, the pivot point may change over the course of multiple wipes. In some embodiments, the moving may include a speed of about 0.1 millimeters per second (mm / s) to about 15 mm / s, about 1 mm / s to about 10 mm / s, or about 1 mm / s to about 5 mm / s. The speed of the movement (e.g., rotation, translation, or a combination thereof) may change over the course of multiple wipes. In some embodiments, the moving may wipe the lens or window at least 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or more times.

[0048] In some embodiments, the stationary wiping object is coupled to the camera or endoscope and positioned relative to the lens or window of the camera or endoscope such that as the camera or endoscope moves relative to the wiping object, the lens or window is cleaned. In these embodiments, the wiping object is positioned relative to the camera or endoscope such that the wiping object does not obstruct the lens of the camera or endoscope during normal use of the camera or endoscope during a procedure (e.g., the wiping object is offset from the imaging device). In some embodiments, the wiping object may contact the window or lens of the imaging device during wiping. In some embodiments, the wiping object may be positioned at a distance from the imaging device while not wiping. In some embodiments, the wiping object may not cover at least a portion of the lens or window of the imaging device during a medical or surgical procedure. This configuration may reduce the force required from the actuator to move the imaging device relative to the wiping object because frictional forces between the wiping object and the lens or window are minimized while offset from one another. In some embodiments, the wiping object and the imaging device may be offset by a distance of about 0.05 mm to about 6 mm, about 0.1 mm to about 5 mm, or about 0.1 mm to about 1.0 mm. In some embodiments, the camera and endoscope lens or window wipe against a stationary object in a particular orientation using one or more of its degrees of freedom. In some embodiments, the wiping action may have at least 1, 2, 3, 4, 5, or 6 degrees of freedom. In some embodiments, the wiping action has 1 degree of freedom. In some embodiments, the wiping action may be limited to 2 degrees of freedom. In some embodiments, the wiping action may be limited to 3 degrees of freedom. In some embodiments, the wiping action may be limited to 4 degrees of freedom. In some embodiments, the wiping action may be limited to 5 degrees of freedom. In some embodiments, the wiping action may be limited to 6 degrees of freedom. In some embodiments, the imaging device may move in only one direction (e.g., only downward and not upward) to wipe surface contamination on the lens or window.In some embodiments, the imaging device may rotate about an axis to wipe surface contamination on the lens or window in one direction. In some embodiments, the imaging device may rotate back and forth about an axis to wipe surface contamination off the lens or window. In some embodiments, the imaging device may rotate in two axes to clean the lens or window. In some embodiments, the imaging device may translate relative to the lens or window to clean the lens or window. In some embodiments, the imaging device may be moved by a combination of rotation and translation relative to the lens or window to clean the lens or window. In some embodiments, the imaging device may contact a wiping object (e.g., a wiper or pad) and move in one direction a predetermined distance separated from the wiping object by movement of the imaging device and / or the wiping object. In some embodiments, the imaging device may be repositioned at the start of the wiping action, contact the wiping object, and move an additional distance relative to the wiping object in the same direction. In some embodiments, the imaging device may contact the wiping object and move a predetermined distance in one direction, the wiping object may be separated from the imaging device and repositioned at the starting point of the wipe, and the imaging device may move an additional distance in the same direction.

[0049] In some embodiments, the camera or endoscope includes or is coupled to the wiping object such that movement of the camera or endoscope results in the lens or window of the camera or endoscope contacting the wiping object. In some embodiments, the axis of rotation of the camera or endoscope is centered below the wiping surface of the wiping object. In some embodiments, the axis of rotation of the camera or endoscope is not centered relative to the wiping surface of the wiping object. In some embodiments, the articulation allows for angular movement greater than 180 degrees. In some embodiments, there may be one axis of rotation with a stationary bar located above the rotation that allows cleaning when rotated relative to the surface.

[0050] In some embodiments, the wiping object is located on a stationary support structure of the imaging device and contacts a lens or window of the imaging device within one or more degrees of freedom of the imaging device's range of motion. In some embodiments, the imaging device comprises a camera. In some embodiments, the imaging device comprises an endoscope. For example, the imaging device may be configured to move along the support structure of the device and then prepare to wipe the surface against a stationary wiping pad located on the support structure of the imaging device. In some embodiments, the imaging device may have dimensions of about 13 mm in diameter by 40 mm in length. In some embodiments, the lens may have dimensions of about 5 mm in diameter by 4 mm in length. In some embodiments, the window may have dimensions of about 8.9 mm by 6 mm by 0.21 mm thick.

[0051] In some embodiments, the imaging device (e.g., camera, endoscope) may include at least one lens or window. In some embodiments, the imaging device may include one lens, two lenses, three lenses, four lenses, five lenses, six lenses, seven lenses, eight lenses, nine lenses, ten lenses, or more. In some embodiments, the imaging device (e.g., camera) is a binocular camera having two lenses, and some of these embodiments may include a binocular camera having two lenses, and when a first lens or window of the camera is sufficiently cleaned, the camera rotates 180 degrees and the wiping material can contact in the opposite direction to begin the wiping process on the second lens or window. In some embodiments, the wiping may be in the opposite direction for one lens or window to maintain the same wiping action of the wiper. In some embodiments, the wiping object is configured to contact at least a portion of the first lens or first window and at least a portion of the second lens or second window in a sequential manner. In some embodiments, the system may include an additional wiping object (e.g., a second wiping object). In such embodiments, a first wiping object is configured to contact at least a portion of the first lens or first window, and an additional wiping object is configured to contact at least a portion of the second lens or second window, In some embodiments, the first wiping object and the second wiping object contact the first lens or first window and the second lens or second window simultaneously.

[0052] In some embodiments, the system with the wiping object may be a stationary system within the surgical instrument. In some embodiments, the surgical system includes a trocar and a surgical instrument. In such embodiments, actuation of the wiped object (because the wiper is not moving) may include at least partially moving the imaging device so that it is positioned within the trocar. In such embodiments, movement of the imaging device (e.g., translation, rotation, or a combination thereof) may bring the lens or window into contact with the wiping object, thereby cleaning the lens of the window. In some embodiments, a separate instrument may be inserted into the body of an individual undergoing a medical or surgical procedure through the same or a different port. In such embodiments, the surgical instrument may be attached to the body of the imaging device or may move relative to the lens or window, thereby cleaning the lens or window.

[0053] The wiping objects described herein comprise a material suitable for removing matter (e.g., dirt, blood, fatty tissue, bodily fluids, irrigation, or condensation) from a lens or window of a camera or endoscope when the wiping object contacts the lens or window. The wiping objects described herein may be formed as wipers, pads, cloths, or sheets and may be made of any material suitable for cleaning a surface, including hard and soft materials, as well as absorbent and non-absorbent materials and various combinations thereof. In some embodiments, the stationary wiping object may comprise ePTFE. ePTFE provides a biologically safe, low modulus, non-porous surface with tunable flexibility and shape that can be configured to have a relatively low profile.

[0054] In some embodiments, a coating can be applied to the lens or window substrate to prevent large buildup, hi some embodiments, the lens or window has both a hydrophobic and oleophobic coating with the addition of an anti-fog coating to improve the performance of the wiping article.

[0055] 1 shows the camera 110 in a front-facing configuration along with a wiping object 190. In some embodiments, the wiping object 190, which comprises ePTFE, is attached to a body 180. In some embodiments, the camera lens may be behind a window 120 that conforms to the contours of the rotating surface (not shown) such that as the camera rotates, a portion of that surface remains tangent to the wiping object 190.

[0056] In some examples, FIG. 2 shows the camera 210 in an orthogonal orientation to insertion. This is done by first using the rotation point 250 to rotate the camera 210 about the rotation axis 255 to align the camera 210 with the wiping object 290 on the body 280. In some embodiments, one wiping object 290 finishes the surface of both lenses 230 behind the window 220 of the binocular camera 210, one at a time. In some embodiments, if two wiping objects are used, no translational movement toward the second window or lens may be required. In some embodiments, the camera 210 may include a light source including a light emitting diode (LED) 240 and / or one or more sensors 245 behind the window 220.

[0057] In some embodiments, Figure 3 shows the camera 310 pointed downward while coupled to the body 380. The camera may be moved from the position shown in Figure 2 through the position shown in Figure 3 so that the entire surface of the window 320 or lens (not shown) is cleaned. Multiple wipes using the wiping object 390 may need to be performed. In some embodiments, multiple wipes may occur by rotating the camera 310 along a rotation point 350 about a rotation axis 355.

[0058] 4 shows a close-up of a lens (not shown) behind a window 420 and a wiping object 490 comprising ePTFE in some embodiments. In this case, the ePTFE conforms to the surface. In some embodiments, a material such as silicone may be compatible with the material of an automobile windshield wiper used to increase the force on the lens or window while having minimal impact on the quality of the transfer.

[0059] In some examples, Figure 6 shows a camera 610 coupled to a body 680 with an automated wiping object 680 installed. As shown, the wiping object 680 is located above the thumb 660 shown in the figure. The camera 610 may include two lenses 630, a light source including an LED 640, and one or more sensors 645 positioned behind a separate window 620. In this embodiment, the camera 610 is rotated about a rotation point 650 such that the window 620 and the lens 630 are aligned with the wiping object 690 upon rotation in separate directions.

[0060] Automatic start of lens cleaning Described herein are devices, systems and methods for initiating automatic cleaning of an imaging device lens or window during a medical or surgical procedure, the devices, systems and methods including: (a) providing an eye tracking device, where the eye tracking device comprises eye tracking hardware; (b) coupling the eye tracking device to at least one eye of an individual performing the medical or surgical procedure; (c) providing an imaging device for insertion into the individual's body, where the imaging device is coupled to a wiping object; (d) tracking the movement of the individual; and (e) detecting an actuation motion during the movement to trigger the imaging device to retract and move against the wiping object, where the contact and movement cleans the imaging device lens or window.

[0061] Advantages of this system can include the ability for the imaging device to remain within the surgical space while the cleaning procedure occurs, while simultaneously giving the individual performing the medical or surgical procedure the ability to initiate cleaning.

[0062] Described herein is an eye tracking device adapted to track the eyes of a surgeon, thereby utilizing blinking or some other specific movement by the eyes to trigger a fast automated lens or window cleaning procedure. In some embodiments, the initiation of the cleaning procedure may occur as the eye tracking device observes a direct signal from the individual performing the procedure. In some embodiments, the movement may include eye movement. The surgeon's eyes are tracked by eye tracking hardware known in the art, such as foveal tracking, computer vision (CV), electrograms, contact lenses, etc. In some embodiments, the eye tracking device may be worn on the individual's head. In some embodiments, the eye tracking device may be positioned at a distance from the individual and a camera may track the movement. In some embodiments, the eye tracking device may be positioned within a stationary viewfinder (e.g., a stereo microscope). The signal may include a sharp glance in a specified direction (e.g., towards a camera coupled to the eye tracking device), focusing on a target (e.g., an object or location) in space, one or more blinks, one or more long blinks, one or more winks, eye strain, large head movements away from the video output display, or combinations thereof. In some embodiments, the one or more blinks or winks may last for about 0.01 seconds to about 5 seconds, about 0.05 seconds to about 3 seconds, or about 0.1 seconds to about 1 second. In some embodiments, the eye movement may include focusing on a target object or location in space for a period of time. The period of time may be about 0.1 seconds to about 20 seconds, about 0.5 seconds to about 10 seconds, about 0.5 seconds to about 5 seconds, or about 1 second to about 5 seconds. In some embodiments, the eye movement may include looking in a first direction and then looking in a second direction within a given time frame. In such embodiments, the time frame may be from about 0.1 seconds to about 20 seconds, from about 0.5 seconds to about 10 seconds, from about 0.5 seconds to about 5 seconds, or from about 1 second to about 5 seconds. In some embodiments, the surgeon wears a head mounted display with eye tracking. In some embodiments, the surgeon can view a display mounted some distance from his or her eyes, which are tracked via a camera.In some embodiments, the surgeon views through a stationary viewfinder (such as a stereo microscope) with eye tracking.

[0063] In some embodiments, the individual performing the procedure may be equipped with a head tracking system. In such an example, the head tracking system may track the individual's head movements (e.g., head vibration) using tracking hardware known in the art. The head tracking system may comprise a 3D display, a virtual reality (VR) headset, a vision engineering system, or any other system known in the art. In some embodiments, the wiping action may be triggered using a hand or foot controller. In some embodiments, the wiping action may be triggered via a voice command. In some embodiments, the wiping action may be triggered by touching a particular portion of a computer system.

[0064] In one embodiment, the system detects when the surgeon blinks and initiates a cleaning process for the lens or window. Due to the frequency with which humans blink, this can lead to initiating many unnecessary cleaning processes. To that end, in some embodiments, the surgeon must blink or close his or her eyes for a certain period of time to trigger the cleaning process. For example, the surgeon may blink or close his or her eyes for about one second to trigger the cleaning process. In some embodiments, the cleaning process is triggered by the surgeon focusing on a particular object, target, or location in space for a certain period of time. For example, it can be triggered by the surgeon looking up for 0.5 seconds. In some embodiments, this is triggered by a particular movement of the eyes, such as looking left and then right within 0.5 seconds.

[0065] 5 shows a surgeon 510 sitting at a control console 520 operating a surgical robot. There is an eye tracking camera 530 mounted above the display that is used to control when the lens or window cleaning process begins.

[0066] 7 illustrates an example of a computer system 701 programmed or configured to direct the operation of a device or system described herein, including imaging, cleaning of a lens or window, tracking the movement of a user of the system, and initiating cleaning of the lens or window. The computer system 701 coordinates various aspects of the systems and methods of the present disclosure, such as, for example, (a) movement of one or more device or system components, (b) operation of one or more device or system components (e.g., one or more positioning elements, one or more wrist elements, and / or one or more cameras), (c) adjustment of one or more parameters of one or more device or system components, (d) computational evaluation of one or more measurements of the device or system, and (e) display of various parameters including input parameters, results of the measurements, or any combination of any of these.

[0067] In some embodiments, the computer system 701 is a user's electronic device (e.g., a smartphone, a laptop, a computer, a headset, a wrist device). In some embodiments, the computer system 701 is located remotely relative to the devices or systems provided herein. In some embodiments, the electronic device is a mobile electronic device.

[0068] The computer system 701 includes a central processing unit (CPU, also referred to herein as "processor" and "computer processor") 705, which in some embodiments is a single-core or multi-core processor, or multiple processors for parallel processing. The computer system 701 also includes memory or memory locations 710 (e.g., random access memory, read-only memory, flash memory), an electronic storage unit 715 (e.g., hard disk), a communication interface 720 (e.g., network adapter) for communicating with one or more other systems, and peripheral devices 725, such as cache, other memory, data storage, and / or electronic display adapters. The memory 1210, the storage unit 715, the interface 720, and the peripheral devices 725 communicate with the CPU 705 via a communication bus (solid lines), such as a motherboard. The storage unit 715 is configured as a data storage unit (or data repository) for storing data. The computer system 701 is operatively coupled to a computer network ("network") 730 with the aid of the communication interface 720. Network 730 is the Internet, the Internet and / or an extranet, or an intranet and / or an extranet in communication with the Internet. In some embodiments, network 730 is a telecommunications and / or data network. Network 730 includes one or more computer servers, enabling distributed computing such as cloud computing. Network 730, in some embodiments, implements a peer-to-peer network, enabling devices coupled to computer system 701 to behave as clients or servers with the aid of computer system 701.

[0069] The CPU 705 is configured to execute a series of machine-readable instructions, which may be embodied in a program or software. The instructions are stored in a memory location, such as the memory 710. The instructions are directed to the CPU 705, which then programs or configures the CPU 705 to implement the methods provided herein. Examples of operations performed by the CPU 705 include fetch, decode, execute, and writeback.

[0070] The CPU 705 is part of a circuit, such as an integrated circuit. One or more other components of the system 701 are included in the circuit. In some embodiments, the circuit is an application specific integrated circuit (ASIC).

[0071] The storage unit 715 stores files such as drivers, libraries, and saved programs. The storage unit 715 stores user data, e.g., user settings and user programs. In some embodiments, the computer system 701 includes one or more additional data storage units that are external to the computer system 701, such as located on a remote server that communicates with the computer system 701 via an intranet or the Internet.

[0072] Computer system 701 communicates with one or more remote computer systems via network 730. For example, computer system 701 communicates with a user's remote computer system (e.g., a second computer system, a server, a smartphone, an iPad®, or any combination thereof). The remote computer system may include a personal computer (e.g., a portable PC), a slate or tablet PC (e.g., an Apple® iPad®, a Samsung® Galaxy Tab), a phone, a smartphone (e.g., an Apple® iPhone®, an Android-enabled device), or a personal digital assistant. A user accesses computer system 701 via network 730.

[0073] The methods described herein are implemented by machine (e.g., computer processor) executable code stored in an electronic storage location of the computer system 701, such as, for example, memory 710 or electronic storage unit 715. The machine executable or machine readable code is provided in the form of software. In use, the code is executed by the processor 705. In some cases, the code is retrieved from the storage unit 715 and stored on the memory 710 for ready access by the processor 705. In some cases, the electronic storage unit 715 is excluded and the machine executable instructions are stored in the memory 710.

[0074] Machine-readable media, such as computer-executable code, take many forms, including but not limited to tangible storage media, carrier wave media, or physical transmission media. Non-volatile storage media include optical or magnetic disks, such as any of the storage devices in any computer or the like, used to implement, for example, the databases shown in the drawings. Volatile storage media include dynamic memory, such as the main memory of such a computer platform. Tangible transmission media include coaxial cables, copper wire, including the wires that comprise a bus in a computer system, and optical fibers. Carrier wave transmission media take the form of electric or electromagnetic signals, or acoustic or light waves, such as those generated during radio frequency (RF) and infrared (IR) data communications. Common forms of computer readable media include, for example, a floppy disk, a flexible disk, a hard disk, a magnetic tape, any other magnetic medium, a CD-ROM, a DVD or DVD-ROM, any other optical medium, a paper tape of punch cards, any other physical storage medium with a pattern of holes, a RAM, a ROM, a PROM and EPROM, a FLASH-EPROM, any other memory chip or cartridge, a carrier wave carrying data or instructions, a cable or link carrying such a carrier wave, or any other medium from which a computer reads programming code and / or data. Many of these forms of computer readable media are involved in carrying one or more sequences of one or more instructions to a processor for execution.

[0075] In some embodiments, the computer system 701 includes or communicates with an electronic display 735 that includes a user interface (UI) 740 for providing, for example, a graphical representation or other visualization of the motion of the robotic arm during surgery (e.g., image data or video data), one or more parameters entered or adjusted by a user or by a controller, or any combination thereof. Examples of UIs include, but are not limited to, graphical user interfaces (GUIs) and web-based user interfaces.

[0076] The methods and systems provided herein may be implemented by one or more algorithms. In some embodiments, the algorithms are implemented by software when executed by the central processing unit 705. The algorithms may, for example, regulate various aspects of the systems and methods of the present disclosure, such as, for example, (a) the movement of one or more devices or system components, (b) the manipulation of one or more parameters of one or more devices or system components, (c) the adjustment of one or more parameters of one or more devices or system components, (d) computational evaluation of one or more measurements of the devices or systems, and (e) the display of various parameters, including input parameters, results of the measurements, or any combination of any of these.

[0077] Whenever the terms "at least," "greater than," or "greater than or equal to" precede a first value in a series of two or more numerical values, the terms "at least," "greater than," or "greater than or equal to" apply to each and every value in the series. For example, 1, 2, or 3 or more is equivalent to 1 or more, 2 or more, or 3 or more.

[0078] Whenever the term "no more than," "less than," or "less than or equal to" precedes a first value in a series of two or more numerical values, the term "no more than," "less than," or "less than or equal to" applies to each and every numerical value in the series. For example, 3, 2, or 1 or less is equivalent to 3 or less, 2 or less, or 1 or less.

[0079] As used herein, the term "about" means within ±10% of a value. For example, if it is stated that "the lens comprises a thickness of about 10 mm," it is implied that the thickness may be between 9 mm and 11 mm.

[0080] The term "comprise" and variations thereof, such as "comprises" and "comprising", should be interpreted in an open-ended and inclusive sense, i.e., "including but not limited to."

[0081] As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. It should also be noted that the term "or" is generally used in its sense including "and / or" unless the content clearly dictates otherwise.

[0082] The term "optional" or "optionally" indicates that the event or circumstance described below may, but need not, occur, and that the description includes instances where the event or circumstance occurs as well as instances where it does not.

[0083] While preferred embodiments of the present invention have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, changes, and substitutions will now occur to those skilled in the art without departing from the invention. Naturally, various alternatives to the embodiments of the invention described herein may be employed in the practice of the invention. The following claims define the scope of the invention, and it is intended that methods and structures within the scope of these claims and their equivalents be covered thereby.

[0084] Exemplary embodiments Exemplary embodiments include the following:

[0085] Embodiment 1 comprises a system for cleaning a lens or window of an imaging device during a surgical procedure in a patient, the system comprising an imaging device comprising a lens or window, and a wiping object positioned at an offset distance from the imaging device and configured to contact at least a portion of the lens or window as the imaging device moves along a path using one or more degrees of freedom of the imaging device. Embodiment 2 comprises the system of embodiment 1, in which the imaging device comprises a camera or an endoscope. Embodiment 3 comprises the system of embodiment 1, in which contacting the wiping object with the portion of the lens or window and moving the wiping object relative to the portion of the lens removes material from at least a portion of a surface of the lens or window. Embodiment 4 comprises the system of embodiment 3, in which the material comprises blood, fatty tissue, bodily fluids, irrigation, condensation, or a combination thereof. Embodiment 5 comprises the system of embodiment 3, in which moving the wiping object relative to the portion of the lens or window comprises moving the imaging device relative to the wiping object. Embodiment 6 comprises the system of embodiment 5, in which moving the imaging device comprises a rotation, a translation, or a combination thereof. Embodiment 7 comprises the system of embodiment 5, wherein the movement of the wiping object relative to the portion of the lens or window comprises the wiping object being stationary. Embodiment 8 comprises the system of embodiment 3, wherein the movement of the wiping object relative to the portion of the lens or window comprises moving the wiping object relative to the imaging device. Embodiment 9 comprises the system of embodiment 3, wherein the imaging device moves relative to the wiping object at a speed of about 0.5 mm / sec to about 10.0 mm / sec. Embodiment 10 comprises the system of embodiment 1, wherein the wiping object and the imaging device do not contact when cleaning of the lens or window is not occurring. Embodiment 11 comprises the system of embodiment 10, wherein the body of the imaging device is positioned at a distance from the wiping object. Embodiment 12 comprises the system of embodiment 11, wherein the distance is at least about 0.1 mm to about 1.0 mm.Embodiment 13 comprises the system of embodiment 1, in which the wiping object does not cover at least a portion of the lens or window of the imaging device during the medical or surgical procedure.Embodiment 14 comprises the system of embodiment 1, in which the imaging device comprises a first lens and a second lens, the first lens being positioned behind the first window and the second lens being positioned behind the second window.Embodiment 15 comprises the system of embodiment 14, in which the wiping object is configured to contact at least a portion of the first window and at least a portion of the second window sequentially.Embodiment 16 comprises the system of embodiment 14, in which the system comprises an additional wiping object, the wiping object being configured to contact at least a portion of the first window and the additional wiping object being configured to contact at least a portion of the second window.Embodiment 17 comprises the system of embodiment 16, in which the wiping object is configured to contact at least a portion of the first window and the additional wiping object being configured to contact at least a portion of the second window simultaneously. Embodiment 18 comprises the system of embodiment 1, in which the wiping object comprises a pad, sheet, or wiper, or a combination thereof.Embodiment 19 comprises the system of embodiment 1, in which the wiping object is sized to reduce drag across the lens or window surface when the wiping object moves relative to the lens.Embodiment 20 comprises the system of embodiment 19, in which the wiping object comprises a material treated to increase lubricity.Embodiment 21 comprises the system of embodiment 19, in which the wiping object comprises a material treated to increase resistance to fluid ingress.Embodiment 22 comprises the system of embodiment 1, in which the wiping object comprises a flexible material.Embodiment 23 comprises the system of embodiment 22, in which the flexible material conforms to the lens or window surface when the wiping object is in contact with the lens or window.Embodiment 24 comprises the system of embodiment 22, in which the wiping object comprises a material that improves surface contact to the lens or window surface. Embodiment 25 comprises the system of embodiment 1, wherein the wipe comprises a material that is compatible with one or more sterilization methods.Embodiment 26 comprises the system of embodiment 1, wherein the wiping object comprises a substantially non-porous surface. Embodiment 27 comprises the system of embodiment 1, wherein the wiping object comprises a fluoropolymer. Embodiment 28 comprises the system of embodiment 27, wherein the fluoropolymer comprises expanded polytetrafluoroethylene (ePTFE). Embodiment 29 comprises the system of embodiment 28, wherein the wiping object comprises one or more layers of ePTFE. Embodiment 30 comprises the system of embodiment 29, wherein the wiping object comprises an inner layer comprising a material having a low compressive modulus and an outer layer of a fluoropolymer. Embodiment 31 comprises the system of embodiment 1, wherein the lens comprises a stack of two or more lenses. Embodiment 32 comprises the system of embodiment 31, wherein the stack of lenses is about 1 mm thick to about 10 mm thick. Embodiment 33 comprises the system of embodiment 1, wherein the lens or window comprises glass, plastic, or a combination thereof. Embodiment 34 comprises the system of embodiment 33, wherein the lens or window comprises a flexible material. Embodiment 35 comprises the system of embodiment 33, wherein the lens or window comprises a coating.Embodiment 36 comprises the system of embodiment 35, wherein the coating laminates the lens or window.Embodiment 37 comprises the system of embodiment 35, wherein the coating provides increased hydrophobicity, hydrophilicity, oleophilicity, anti-fog, anti-reflective, scratch resistance, or a combination thereof.Embodiment 38 comprises the system of embodiment 35, wherein the coating is applied to the lens or window through spraying, spin coating, chemical vapor deposition, physical vapor deposition, or immersion.

[0086]

[0046] Embodiment 39 includes a method for cleaning a lens or window of an imaging device during a medical or surgical procedure on an individual's body, comprising: (a) providing an imaging device for insertion into the individual's body, the imaging device being coupled to a wiping object; and (b) contacting and moving the imaging device relative to the wiping object, the contacting and moving cleaning the lens or window of the imaging device.

[0047] Embodiment 40 includes the method of embodiment 39, in which the imaging device comprises a camera or an endoscope.

[0048] Embodiment 41 includes the method of embodiment 39, in which contacting a wiping object with a portion of the lens or window and moving the wiping object relative to the portion of the lens removes material from at least a portion of a surface of the lens.

[0049] Embodiment 42 includes the method of embodiment 41, in which the material includes blood, fatty tissue, bodily fluids, irrigation, condensation, or a combination thereof.

[0049] Embodiment 43 includes the method of embodiment 41, in which moving the wiping object relative to the portion of the lens or window includes moving the imaging device relative to the wiping object.

[0046] Embodiment 44 includes the method of embodiment 43, in which the movement of the imaging device includes a rotation, a translation, or a combination thereof.

[0047] Embodiment 45 includes the method of embodiment 43, in which the movement of the wiping object relative to the portion of the lens or window includes the wiping object being stationary.

[0048] Embodiment 46 includes the method of embodiment 41, in which the movement of the wiping object relative to the portion of the lens or window includes moving the wiping object relative to the imaging device.

[0049] Embodiment 47 includes the method of embodiment 41, in which the imaging device moves relative to the wiping object at a speed of about 0.5 mm / s to about 2.0 mm / s.

[0049] Embodiment 48 includes the method of embodiment 39, in which the wiping object and the imaging device do not contact when cleaning of the lens or window is not occurring.

[0049] Embodiment 49 includes the method of embodiment 48, in which the body of the imaging device is positioned at a distance from the wiping object.

[0049] Embodiment 50 includes the method of embodiment 49, in which the distance is at least about 0.1 mm to about 1.0 mm.Embodiment 51 includes the method of embodiment 39, in which the wiping object does not cover at least a portion of the lens or window of the imaging device during the medical or surgical procedure to allow visualization by the imaging device.Embodiment 52 includes the method of embodiment 39, in which the imaging device comprises a first lens and a second lens, the first lens being positioned behind the first window and the second lens being positioned behind the second window.Embodiment 53 includes the method of embodiment 52, in which the wiping object is configured to contact at least a portion of the first window and at least a portion of the second window sequentially.Embodiment 54 includes the method of embodiment 52, in which the system comprises an additional wiping object, the wiping object being configured to contact at least a portion of the first window and the additional wiping object being configured to contact at least a portion of the second window.Embodiment 55 includes the method of embodiment 54, in which the wiping object is configured to contact at least a portion of the first window and the additional wiping object is configured to contact at least a portion of the second window simultaneously. Embodiment 56 includes the method of embodiment 39, in which the wiping object comprises a pad, sheet, or wiper, or a combination thereof. Embodiment 57 includes the method of embodiment 39, in which the wiping object is sized to reduce drag across the lens or window surface when the wiping object moves relative to the lens or window. Embodiment 58 includes the method of embodiment 57, in which the wiping object comprises a material treated to increase lubricity. Embodiment 59 includes the method of embodiment 57, in which the wiping object comprises a material treated to increase resistance to fluid ingress. Embodiment 60 includes the method of embodiment 39, in which the wiping object comprises a flexible material. Embodiment 61 includes the method of embodiment 60, in which the flexible material conforms to the lens or window surface when the wiping object is in contact with the lens or window. Embodiment 62 includes the method of embodiment 60, in which the wiping object comprises a material that improves surface contact to the lens or window surface. Embodiment 63 includes the method of embodiment 39, wherein the wipe comprises a material that is compatible with one or more sterilization methods.Embodiment 64 includes the method of embodiment 39, wherein the wiping object comprises a substantially non-porous surface. Embodiment 65 includes the method of embodiment 39, wherein the wiping object comprises a fluoropolymer. Embodiment 66 includes the method of embodiment 65, wherein the fluoropolymer comprises expanded polytetrafluoroethylene (ePTFE). Embodiment 67 includes the method of embodiment 65, wherein the wiping object comprises one or more layers of ePTFE. Embodiment 68 includes the method of embodiment 65, wherein the wiping object comprises an inner layer comprising a material having a low compressive modulus and an outer layer of a fluoropolymer. Embodiment 69 includes the method of embodiment 39, wherein the lens comprises a stack of two or more lenses. Embodiment 70 includes the method of embodiment 69, wherein the stack of two or more lenses is about 1 mm thick to about 10 mm thick. Embodiment 71 includes the method of embodiment 39, wherein the lens or window comprises glass, plastic, or a combination thereof. Embodiment 72 includes the method of embodiment 71, wherein the lens or window comprises a flexible material. Embodiment 73 includes the method of embodiment 71, in which the lens or window includes a coating. Embodiment 74 includes the method of embodiment 73, in which the coating laminates the lens or window. Embodiment 75 includes the method of embodiment 73, in which the coating provides increased hydrophobicity, hydrophilicity, oleophilicity, anti-fog, anti-reflective, scratch resistance, or a combination thereof. Embodiment 76 includes the method of embodiment 73, in which the coating is applied to the lens or window via spraying, spin coating, chemical vapor deposition, physical vapor deposition, or immersion. Embodiment 77 includes the method of embodiment 39, in which moving the imaging device relative to the wiping object wipes the lens or window at least twice. Embodiment 78 includes the method of embodiment 77, in which moving the imaging device relative to the wiping object wipes the lens or window at least five times. Embodiment 79 includes the method of embodiment 39, in which the method further includes, subsequent to (b), recording an image score.

[0087]

[0036] Embodiment 80 includes a method for initiating automatic cleaning of an imaging device lens or window during a medical or surgical procedure, the method comprising: (a) providing an eye tracking device, the eye tracking device comprising eye tracking hardware; (b) coupling the eye tracking device to at least one eye of an individual performing the medical or surgical procedure; (c) providing an imaging device inserted into the individual's body, the imaging device coupled to a wiping object; (d) tracking the individual's movements; and (e) detecting an actuation during the movements to trigger the imaging device to contract and move relative to the wiping object, the contact and movement cleaning the imaging device lens or window.

[0037] Embodiment 81 includes the method of embodiment 80, in which the movements include eye movements.

[0038] Embodiment 82 includes the method of embodiment 81, in which the eye movements include blinking.

[0039] Embodiment 83 includes the method of embodiment 82, in which the blinking includes a single blink, the single blink lasting about 0.3 seconds. Embodiment 84 includes the method of embodiment 82, in which the eye movement includes focusing on a target object or location in space for a period of time. Embodiment 85 includes the method of embodiment 84, in which the period of time is about 2 seconds. Embodiment 86 includes the method of embodiment 82, in which the eye movement includes looking in a first direction and then looking in a second direction. Embodiment 87 includes the method of embodiment 86, in which looking in the first direction and then looking in the second direction occurs within about 1 second. Embodiment 88 includes the method of embodiment 82, in which the eye movement includes a sharp glance in the specified direction. Embodiment 89 includes the method of embodiment 88, in which the specified direction is toward a camera coupled to the eye tracking device. Embodiment 90 includes the method of embodiment 80, in which the eye tracking hardware includes foveal tracking, computer vision, electrograms, contact lenses, or a combination thereof. Embodiment 91 includes the method of embodiment 90, in which the eye tracking hardware includes foveal tracking. Embodiment 92 includes the method of embodiment 80, in which the eye tracking device is worn on the individual's head.Example 93 includes the method of example 80, in which the eye tracking device is positioned at a distance from the individual and the camera tracks at least one movement. Example 94 includes the method of example 80, in which the eye tracking device is positioned within a stationary viewfinder. Example 95 includes the method of example 94, in which the stationary viewfinder is a stereo microscope. [Explanation of symbols]

[0088] 110 Camera 120 Window 180 Body 190 Object 210 Camera 220 Window 230 Both lenses 240 Light Emitting Diode (LED) 245 Sensors 250 rotation points 255 Rotation Axis 280 Body 290 Object 310 Camera 320 Window 350 rotation points 355 Rotational Axis 380 Body 390 Object 420 Window 490 Object 510 Surgeon 520 Control Console 530 Eye Tracking Camera 610 Camera 620 Window 630 Lens 645 Sensors 650 Rotation Point 660 Thumb 680 Object 680 Body 690 Object 701 Computer Systems 705 Central Processing Unit (CPU) 710 Memory 715 Storage Unit 720 Communication Interface 725 Peripheral Equipment 730 Computer Network (Network) 735 Electronic Display 740 User Interface (UI) 1210 Memory

Claims

1. 1. A system for cleaning an imaging device during a surgical procedure within a patient, comprising: the imaging device including a first lens or a first window and a second lens or a second window; a first wiping object positioned an offset distance away from the imaging device; Equipped with the first wiping object is configured to contact at least a portion of the first lens or the first window as the imaging device moves along a path that uses one or more degrees of freedom of the imaging device; The system, wherein the first wiping object wipes both the first lens or the first window and the second lens or the second window.

2. The system of claim 1 , wherein the imaging device comprises a camera or an endoscope.

3. 2. The system of claim 1, wherein contacting the first wiping object with the portion of the first lens or the first window and moving the first wiping object relative to the portion of the first lens or the first window removes material from at least a portion of a surface of the first lens or the first window.

4. The system of claim 3 , wherein the moving of the first wiping object relative to the portion of the first lens or the first window comprises moving the imaging device relative to the first wiping object.

5. The system of claim 4 , wherein the movement of the imaging device includes a rotation, a translation, or a combination thereof.

6. The system of claim 4 , wherein the movement of the first wiping object relative to the portion of the first lens or the first window comprises the first wiping object being stationary.

7. The system of claim 3 , wherein the moving of the first wiping object relative to the portion of the first lens or the first window comprises moving the first wiping object relative to the imaging device.

8. The system of claim 1 , wherein the first wiping object and the imaging device do not contact when cleaning of the first lens or the first window is not occurring.

9. The system described in claim 1, wherein the first lens is positioned behind the first window and the second lens is positioned behind the second window.

10. The system of claim 1 , wherein the first wiping object is configured to sequentially contact at least a portion of the first window and at least a portion of the second window.

11. 10. The system of claim 1, further comprising a second wiping object, the first wiping object configured to contact at least a portion of the first window and the second wiping object configured to contact at least a portion of the second window.

12. The system of claim 1 , wherein the first wiping object comprises a pad, a sheet, or a wiper, or a combination thereof.

13. 2. The system of claim 1, wherein the first wiping object is sized to have a length up to a dimension of the first lens or the first window to reduce drag across a surface of the first lens or the first window as the first wiping object moves relative to the first lens or the first window.

14. 2. The system of claim 1, wherein the first wiping object comprises a flexible material configured to conform to a surface of the first lens or the first window when the first wiping object is in contact with the first lens or the first window.

15. The system of claim 1 , wherein the first wiping object comprises a substantially non-porous surface.

16. The system of claim 1 , wherein the first wiping object comprises a fluoropolymer.

17. 1. A method of cleaning an imaging device during a medical or surgical procedure on an individual's body, comprising: (a) providing the imaging device for insertion into the body of the individual, the imaging device being coupled to a first wiping object; (b) contacting and moving the imaging device against the first wiping object, the contacting and moving cleaning a first lens or a first window and a second lens or a second window of the imaging device.

18. The method of claim 17 , wherein the imaging device comprises a camera or an endoscope.

19. 18. The method of claim 17, wherein contacting the first wiping object with a portion of the first lens or the first window and moving the first wiping object relative to the portion of the first lens or the first window removes material from at least a portion of a surface of the first lens or the first window.

20. 20. The method of claim 19, wherein the substance comprises blood, adipose tissue, bodily fluids, irrigation, condensate, or a combination thereof.

21. 20. The method of claim 19, wherein the moving of the first wiping object relative to the portion of the first lens or the first window comprises moving the imaging device relative to the first wiping object.

22. The method of claim 21 , wherein the movement of the imaging device comprises a rotation, a translation, or a combination thereof.

23. 22. The method of claim 21, wherein the movement of the first wiping object relative to the portion of the first lens or the first window comprises the first wiping object being stationary.

24. 20. The method of claim 19, wherein the moving of the first wiping object relative to the portion of the first lens or the first window comprises moving the first wiping object relative to the imaging device.

25. The method of claim 17 , wherein the first wiping object and the imaging device do not contact when cleaning of the first lens or the first window is not occurring.

26. The method of claim 17, wherein the first lens is positioned behind the first window and the second lens is positioned behind the second window.

27. 20. The method of claim 17, wherein the first wiping object is configured to sequentially contact at least a portion of the first window and at least a portion of the second window.

28. 20. The method of claim 17, wherein the system further comprises a second wiping object, the first wiping object configured to contact at least a portion of the first window, and the second wiping object configured to contact at least a portion of the second window.

29. The method of claim 17 , wherein the moving of the imaging device relative to the first wiping object wipes the first lens or the first window at least twice.

30. A device further comprising a body, The system of claim 1 , wherein the imaging device is rotatably mounted to the body and the first wiping object is rotatably mounted to the body.

31. The system described in claim 30, wherein the first wiping object is attached to the body along a longitudinal axis of the body and to the imaging device which is rotatable about the longitudinal axis so as to align the first lens or the first window with the first wiping object for wiping.

Images