Articulating camera system and method

Abstract

An imaging device includes a cannula that defines a channel extended a longitudinal length from a proximal end portion toward a distal end portion, where the distal end portion forms a curvilinear shape along the longitudinal length of the cannula. The imaging device also includes an imaging sensor fixed with the cannula, at the curvilinear shape along the longitudinal length of the cannula. The imaging device also includes a rod disposed within the channel, wherein the rod travels along the longitudinal length of the cannula between a retracted position and an extended position, the rod is located closer to the distal end portion in the extended position as compared to the retracted position, and the rod deforms the cannula from the curvilinear shape when traveling from the retracted position toward the extended position.

Description

ARTICULATING CAMERA SYSTEM AND METHODCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Application No. 63 / 678,569 filed August 2, 2024, which is incorporated herein by reference in its entirety.FIELD OF THE INVENTION

[0002] The present disclosure relates generally to a steerable medical camera and, more particularly, to a single use and disposable steerable medical camera.BACKGROUND

[0003] Laparoscopic surgery is minimally invasive surgery, sometimes referred to as keyhole surgery, in which operations are performed through small incisions elsewhere on the body, such as in the abdominal and pelvic regions. Laparoscopic surgery involves the use of specialized instruments and a laparoscope, a thin tube with a camera and light source, which allows the surgeon to view the surgical site on a monitor. Generally, a surgeon directs and uses the instruments from outside the body, operating only with the guidance of the visual feedback on the monitor. The procedure may involve operations such as tissue cutting, suturing, or organ removal, depending on the specific surgical objective.

[0004] Laparoscopic surgery7offers several benefits compared to traditional open surgery7, including reduced scarring, faster recovery times, decreased postoperative pain, and a lower risk of complications due to the smaller incisions.

[0005] There are multiple different ty pes of laparoscopic surgery but in each case the surgeon’s ability7to view the area being treated can dictate the success and performance of the surgery. Current laparoscopic visualizing devices utilize levers (or dials) and wires to change the direction of the view of the camera. The levers are used with an assortment of gears connected to wires, and when the levers are moved, it either lengthens or shortens the wires.which changes the direction the distal tip of the camera. The devices have several components required to change the direction of view of the camera and the number of components increase the size and weight of the camera system as well as increasing the cost of manufacturing. The increased size and weight of the camera system also limits the other devices that may be used concurrently during laparoscopic surgery’ through the same incisions.

[0006] There is a need for improved visualizing devices for laparoscopic surgeries that provide one or more (or all) of the following: a small diameter profile, e.g., having a long and slender design, to facilitate access to an internal surgical site through small incisions in a patient's body; minimized weight, size, and components of the device; remote or distant operation of the device outside of the body to control the device and maneuver within the internal surgical site and to enable the positioning and use of the device within the internal surgical site; selective rigidity to provide stability of the device; selective flexibility' to allow for navigation and manipulation of the device through the body's cavities; articulating capabilities, which can allow for improved maneuverability within the body and which can rotate, pivot, or bend at specific points and to varying degrees and directions to enhance a surgeon's dexterity and visualization of the surgical site; disposable or single use tips that can be replaced and interchanged as desired.

[0007] Additional advantages and novel features of this invention shall be set forth in part in the description that follows, and in part will become apparent to those skilled in the art upon examination of the following specification or may be learned by the practice of the invention. The advantages of the invention may be realized and attained by means of the instrumentalities, combinations, compositions, and methods particularly pointed out in the appended claims.SUMMARY

[0008] According to an aspect, an imaging device includes a cannula that defines a channel extended a longitudinal length from a proximal end portion toward a distal end portion, where the distal end portion forms a curvilinear shape along the longitudinal length of the cannula. The imaging device also includes an imaging sensor fixed with the cannula, at the curvilinear shape along the longitudinal length of the cannula. The imaging device also includes a rod disposed within the channel, where the rod travels along the longitudinal length of the cannula between a retracted position and an extended position, the rod is located closer to the distal end portion in the extended position as compared to the retracted position.and the rod deforms the cannula from the curvilinear shape when traveling from the retracted position toward the extended position.

[0009] According to another aspect, an imaging device includes a cannula that defines a channel extended a longitudinal length from a proximal end portion toward a distal end portion, where the distal end portion is elastically biased toward a curvilinear shape along the longitudinal length of the cannula. The imaging device also includes an imaging sensor fixed with the cannula, at the curvilinear shape along the longitudinal length of the cannula. The imaging device also includes a rod disposed within the channel. The rod travels along the longitudinal length of the cannula between a retracted position and an extended position, the rod is located closer to the proximal end portion in the retracted position as compared to the extended position, and the cannula conforms to the curvilinear shape as the rod travels through the channel from the extended position toward the retracted position.

[0010] According to another aspect, a method of using an imaging device includes driving a rod through a channel defined in a cannula from an extended position to a retracted position, away from an imaging sensor at a distal end portion of the cannula along a longitudinal length of the cannula, where the cannula is elastically biased and conforms toward a curvilinear shape as the rod travels toward the retracted position. The method also includes driving the rod through the channel from the retracted position toward the extended position, toward the imaging sensor along the longitudinal length of the cannula, where the rod deforms the cannula from the curvilinear shape toward a straight configuration having a reduced curvature along the longitudinal length of the cannula.

[0011] The follow ing presents a summary' of this disclosure to provide a basic understanding of some aspects. This summary is intended to neither identify key or critical elements nor define any limitations of embodiments or claims. Furthermore, this summary may provide a simplified overview of some aspects that may be described in greater detail in other portions of this disclosure. Any of the described aspects may be isolated or combined with other described aspects without limitation to the same effect as if they had been described separately and in every possible combination explicitly.

[0012] Disclosed is a single use and disposable medical camera. The device may include a first outer tube that is flexible and includes a preexisting curvilinear shape at its distal end. The device may further include second inner tube that is rigid and that is nested within a channel of the outer flexible tube. The inner rigid tube may be linearly translatable w ithin the outer flexible tube and may control the extent of the curvature of the outer flexible tube based on how- far the inner rigid tube is extended within the channel of the outer flexible tube. Thedistal end of the outer flexible tube may include an imaging sensor and the curvature of the outer flexible tube may dictate the field of view and angle of the imaging sensor. As a result, the movement of the inner rigid tube can direct the capture of the imaging sensor. The device may be used in laparoscopic applications.

[0013] The following description and the draw ings disclose various illustrative aspects. Some improvements and novel aspects may be expressly identified, while others may be apparent from the description and drawings.BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present teachings may be better understood by reference to the following detailed description taken in connection with the following illustrations, in which like reference characters refer to like parts throughout, wherein:

[0015] FIG. 1 shows an embodiment of a medical imaging device including an imaging sensor in accordance with aspects disclosed herein;

[0016] FIG. 2 shows an embodiment of a medical imaging device including an imaging sensor in accordance with aspects disclosed herein;

[0017] FIG. 3 shows an embodiment of a distal end of a medical imaging device including an imaging sensor in accordance with aspects disclosed herein;

[0018] FIG. 4 shows an embodiment of a proximal end of a medical imaging device including an imaging sensor in accordance with aspects disclosed herein;

[0019] FIG. 5 show's an embodiment of a method of using a medical imaging device including an imaging sensor in accordance with aspects disclosed herein.

[0020] The invention may be embodied in several forms without departing from its spirit or essential characteristics. The scope of the invention is defined in the appended claims, rather than in the specific description preceding them. All embodiments that fall within the meaning and range of equivalency of the claims are therefore intended to be embraced by the claims.DETAILED DESCRIPTION

[0021] Reference will now be made in detail to exemplary embodiments of the present teachings, examples of which are illustrated in the accompanying drawings, wherein like numbered aspects refer to a common feature throughout. It is to be understood that other embodiments may be utilized and structural and functional changes may be made without departing from the respective scope of the present teachings. Moreover, features of the various embodiments may be combined or altered without departing from the scope of thepresent teachings. As such, the following description is presented by way of illustration only and should not limit in any way the various alternatives and modifications that may be made to the illustrated embodiments and still be within the spirit and scope of the present teachings.

[0022] In this disclosure, numerous specific details provide a thorough understanding of the subject disclosure. It should be understood that aspects of this disclosure may be practiced with other embodiments not necessarily including all aspects described herein, etc.

[0023] As used herein, the words “example7’ and “exemplary” means an instance, or illustration. The words “example” or “exemplary” do not indicate a key or preferred aspect or embodiment. The word “or” is intended to be inclusive rather than exclusive, unless context suggests otherwise. As an example, the phrase “A employs B or C,” includes any inclusive permutation (e.g., A employs B; A employs C; or A employs both B and C). As another matter, the articles “a” and “an” are generally intended to mean “one or more” unless context suggest otherwise.

[0024] Further, unless context suggest otherwise, descriptions of shapes (e.g., circular, rectangular, triangular, etc.) refer to shapes meeting the definition of such shapes and general representation of such shapes. For instance, a triangular shape or generally triangular shape may include a shape that has three sides and three vertices or a shape that generally represents a triangle, such as a shape having three major sides that may or may not have straight edges, triangular like shapes with rounded vertices, etc.

[0025] Disclosed is a single use and disposable medical camera. The device may include a first outer tube that is flexible and includes a preexisting curvilinear shape at its distal end. The device may further include second inner tube that is rigid and that is nested within a channel of the outer flexible tube. The inner rigid tube may be linearly translatable within the outer flexible tube and may control the extent of the curvature of the outer flexible tube based on how- far the inner rigid tube is extended within the channel of the outer flexible tube. The distal end of the outer flexible tube may include an imaging sensor and the curvature of the outer flexible tube may dictate the field of view and angle of the imaging sensor. As a result, movement of the inner rigid tube can direct the capture of the imaging sensor. The device may be used in laparoscopic applications or other potential medical procedures where an image would assist with regard to the procedure. It should be understood, however, that the device may be used in any procedure and the present teachings are not limited to a specific procedure.

[0026] Turning to FIGs. 1-4, shown is an embodiment of a medical imaging device or camera 100. As described herein, the device 100 may be suitable for laparoscopic applications andmay provide one or more (or all) of the following: a small diameter profile, e.g., having a long and slender design, to facilitate access to an internal surgical site through small incisions in a patient’s body; minimized weight, size, and components of the device; remote or distant operation of the device outside of the body to control the device and maneuver within the internal surgical site and to enable the positioning and use of the device within the internal surgical site; selective rigidity to provide stability of the device; selective flexibility to allow for navigation and manipulation of the device through the body's cavities; articulating capabilities, which can allow for improved maneuverability within the body and which can rotate, pivot, or bend at specific points and to varying degrees and directions to enhance a surgeon's dexterity and visualization of the surgical site; disposable or single use tips that can be replaced and interchanged as desired.

[0027] As described herein, device 100 may include an imaging sensor or camera 200 and may facilitate steering, maneuverability, and articulation of the imaging sensor 200 to provide controlled visualization of the surrounding area by remote or distant operation. Device 100 may be directed and controlled by a rigid structure and a flexible structure, that are extendable and retractable to articulate and adjust the position and field of view of the imaging sensor 200.

[0028] Device 100 may be used in diagnostic and surgical applications, and any applications where visualization of an internal or obstructed view is desired. Although reference is made to laparoscopic applications, it is noted that the device 100 may be used for any other similar procedure or application. Device 100, as a medical device, may be used in a variety of applications, including but not limited to, arthroscopy, urology, gynecology, endoscopic sinus, endoscopic spinal, laparoscopic, spinal, thoracic, etc., procedures and any other endoscopy procedures, for example. Device 100 may be used to obtain biopsy samples for analysis and diagnostics. It is noted that device 100, or components or embodiments thereof, may also be adapted and utilized in non-medical applications including, for example, visualizations behind walls, doors, in vent systems, in car systems, and the like, and any other camera or imaging applications where direct access may not be feasible or desired.

[0029] In an embodiment, the device 100 may include an inner rigid rod 104 and an outer flexible cannula 124, where the inner rigid rod 104 is nested or inserted within the outer flexible cannula 124 and the outer flexible cannula 124 circumscribes the inner rigid rod 104. It is noted that the inner rigid rod 104 may be provided as a solid rod, a hollow rod, a tube, a cannula, and the like. It is noted that the outer flexible cannula 124 may be provided as a hollow rod, a tube, a cannula, and the like, so that it can accommodate the inner ngid rod 104therein (e.g., in its interior channel 140, pathway, lumen, or conduit). In an embodiment, both the inner rigid rod 104 and the outer flexible cannula 124 may have elongated bodies that are slender and generally cylindrical. The inner rigid rod 104 and the outer flexible cannula 124 may have generally smooth surfaces. The inner rigid rod 104 may have a distal end portion 111 and a proximal end portion 113. The outer flexible cannula 124 may have a distal end portion 131 and a proximal end portion 133. The respective proximal and distal end portions 133, 131 may also be referred to as first and second end.

[0030] In an embodiment, the outer flexible cannula 124 may be dimensioned such that clearance or space 110 exists between an inner surface 120 of the outer flexible cannula 124 and an outer surface 130 of the inner rigid rod 104. In an embodiment, the outer flexible cannula 124 may be dimensioned such that no clearance or space 110 exists between the inner surface 120 of the outer flexible cannula 124 and the outer surface 130 of the inner rigid rod 104. For example, the inner surface 120 of the outer flexible cannula 124 and the outer surface 130 of the inner rigid rod 104 may be in direct contact across their overlapping, respective lengths, such that the inner surface 120 directly contacts and circumscribes an outer surface 130 of the inner ngid rod 104 along the longitudinal length of the outer flexible cannula 124. For example, an outer surface diameter of the inner rigid rod 104 may be just smaller than an inner surface diameter of the outer flexible cannula 124. It is noted that the outer surface diameter of the inner rigid rod 104 may have substantially the same diameter as the inner surface diameter of the outer flexible cannula 124 or that the outer surface diameter of the inner rigid rod 104 may be just larger than the inner surface diameter of the outer flexible cannula 124. The outer flexible cannula 124 may be configured to accommodate or adapt to the size of the inner rigid rod 104 (e.g., stretch to allow passage and positioning of the inner rigid rod 104 within the channel 140 of the outer flexible cannula 124). The dimensions of the inner rigid rod 104 and outer flexible cannula 124 may be any dimensions as may be suitable or desired for a particular purpose or intended application, for example, for use in laparoscopic applications.

[0031] In both embodiments including and not including clearance or space 110, the outer flexible cannula 124 and the inner rigid rod 104 may be freely translatable relative one another along their respective longitudinal lengths. For example, the outer flexible cannula 124 may be moveable or translatable along the longitudinal length of the inner rigid rod 104, where the inner rigid rod 104 is located at or between an extended position and a retracted position in the channel 140. For example, the inner rigid rod 104 may be moveable or translatable along the longitudinal length of the outer flexible cannula 124. In anembodiment, the proximal end portion 113 of the inner rigid rod 104 and the proximal end portion 133 of the outer flexible cannula 124 may be positioned at or near one another, and may include a proximal end of device 100. In an embodiment the distal end portion 1 11 of the inner rigid rod 104 and the distal end portion 131 of the outer flexible cannula 124 may be positioned at or near one another, and may include a distal end of device 100. The distal end portion 111 of the inner rigid rod 104 may be moveable towards and away from the distal end portion 131 of the outer flexible cannula 124 and vice versa in respect to the proximal end portions 113, 133.

[0032] As such, the inner rigid rod 104 is disposed within the channel 140, where the inner rigid rod 104 travels along the longitudinal length of the outer flexible cannula 124 between a retracted position and an extended position. The inner rigid rod 104 is located closer to the distal end portion 131 of the outer flexible cannula 124 in the extended position as compared to the retracted position. The inner rigid rod 104 is closer to the proximal end portion 113 in the retracted position as compared to the extended position. As such, inserting the handle 119 into the proximal end portion 133 of the outer flexible cannula 124 along the longitudinal length of the outer flexible cannula 124 drives the inner rigid rod 104 toward the extended position, and removing the handle 1 19 from the proximal end portion 133 along the longitudinal length of the outer flexible cannula 124 drives the inner rigid rod 104 toward the retracted position.

[0033] As described herein, device 100 may include an imaging sensor or camera 200 fixed with the outer flexible cannula 124, at the curvilinear shape along the longitudinal length of the outer flexible cannula 124. The imaging sensor 200 may be capable of recording photos and / or video. The imaging sensor 200 may be any imaging sensor as may be suitable or desired for a particular purpose or intended application. The imaging sensor 200 may be generally low profile, biocompatible, and hermetically sealed, for example. The imaging sensor 200 may also provide one or more (or all) of: high-resolution imaging capabilities, suitable low-light performance, a wide dynamic range, autofocus and manual focus options, compatibility with sterilization needs, compatibility with other laparoscopic equipment, and connectivity options.

[0034] For example, device 100 may include a wired connection 210 from the imaging sensor 200 through device 100. In an embodiment, the wired connection 210 may pass through the channel 140 of the outer flexible cannula 124. The wired connection 210 may continue past the inner rigid rod 104 to the proximal end of the device (such as either or both the proximal end portions 113, 133 of the inner rigid rod 104 and the outer flexible cannula124, respectively) and into, for example, a handle 119 of device 100. In an embodiment, the wired connection 210 may be integrated into a wall 122 or body included in the outer flexible cannula 124. The wall 122 defines the channel 140 and is formed from a molded material that elastically biases the distal end portion 131 of the outer flexible cannula 124 toward the curvilinear shape 139, the distal end portion 131 forms the curvilinear shape 139 when the inner rigid rod 104 is in the retracted position, and the inner rigid rod 104 is rigid as compared to the wall 122. Further, the wired connection 210 may be on the proximal end portions 113, 133 of the inner rigid rod 104 and the outer flexible cannula 124 and would run parallel to the inner rigid rod 104. With this construction, as depicted, the wired connection 210 extends from the imaging sensor 200, through the distal end portion 131 and the proximal end portion 133 of the outer flexible cannula 124 along the longitudinal length of the cannula, where the wired connection 210 delivers power to the imaging sensor 200 from an external device outside the outer flexible cannula 124.

[0035] The wired connection 210 may provide power to the imaging sensor 200, e.g., connected to a battery in the handle 119 of device 100. for example, or connected to another power source or external device outside the outer flexible cannula 124. The wired connection 210 may facilitate the transmission of the photo or video images and data from the imaging sensor 200 to a secondary viewable device, such as a video monitor, recording device, or streaming system for viewing by a doctor or hospital staff. It is noted that the imaging sensor 200 may have a wireless capabilities, such as Wi-Fi, Bluetooth, ZigBee. and the like. It is noted that the imaging sensor 200 may have an onboard battery that is replaceable or rechargeable. In an embodiment, both power and data may be transferred through a wired connection. In an embodiment, both power and data may be transferred through a wireless connection or on-board battery. In an embodiment, power may be provided by a wired connection and data may be transferred to an external device outside the outer flexible cannula 124 over a wireless connection or vice versa where power may be provided by an onboard battery' and data may be transferred through a wired connection. It is noted that any of the embodiments described may be combined.

[0036] In an embodiment, the imaging sensor 200 may be located on the distal end portion 131 of the outer flexible cannula 124. In an embodiment, the distal end portion 131 of the outer flexible cannula 124 terminates with a distal end 142 along the longitudinal length of the outer flexible cannula 124, where the distal end 142 is open and the imaging sensor 200 may be located at, within, or adjacent the channel 140 of the outer flexible cannula 124 at the distal end 142. The wall 122 forms the distal end 142 in the distal end portion 131 at a side ofthe distal end portion 131 opposite the proximal end portion 133 along the longitudinal length of the outer flexible cannula 124. The outer flexible cannula 124 defines the channel 140 extended along the longitudinal length of the outer flexible cannula 124 from the proximal end portion 133 toward the distal end portion 131, where the distal end portion 131 forms the curvilinear shape 139 along the longitudinal length of the outer flexible cannula 124. In an embodiment, the imaging sensor 200 may occupy the entire circumference of the channel 140 of the outer flexible cannula 124 and the distal end 142 of the outer flexible cannula 124, having the imaging sensor 200 inserted thereto, may be sealed, e.g., liquid or air tight, so that fluids and debris are unable to enter the channel 140 of the outer flexible cannula 124. In this manner, the imaging sensor 200 is sealed against the inner surface of the wall 122 along an entire circumference of the channel 140.

[0037] In an embodiment, the outer flexible cannula 124 may terminate the distal end portion 131 with the distal end 142 in a closed configuration, and the imaging sensor 200 may be positioned at, on top of, or adjacent the closed distal end 142. The closed distal end 142 may be completely closed, e g., by the same material that forms the body of the outer flexible cannula 124. and hermetically sealed, or the closed distal end 142 may be generally closed except for, in an example, passage of the wired connection 210 through the device 100. In an embodiment, the channel 140 of the outer flexible cannula 124 and the inner rigid rod 104 therein may be enclosed or sealed from the environment at the distal end 142 and the body of the outer flexible cannula 124. The channel 140 of the outer flexible cannula 124 may be air tight, liquid tight, and / or hermetically sealed at the distal end 142 and the body of the outer flexible cannula 124. With this construction, the wall 122 forms the proximal end portion 133 and the distal end portion 131 of the outer flexible cannula 124 with an inner surface that defines the channel 140, and forms the closed distal end 142 at a side of the distal end portion 131 opposite the proximal end portion 133 along the longitudinal length of the outer flexible cannula 124. Also, the wired connection 210 extends from the imaging sensor 200, through the outer flexible cannula 124, to a side of the proximal end portion 133 opposite the distal end portion 131 along the longitudinal length of the outer flexible cannula 124.

[0038] In an embodiment, the outer flexible cannula 124 may have a preexisting curvilinear shape 139 at the distal end portion 131 of the outer flexible cannula 124. In this regard, the distal end portion 131 is elastically biased toward the curvilinear shape 139. As depicted, the curvilinear shape 139 is a single continuous curve in the distal end portion 131 of the outer flexible cannula 124 along the longitudinal length of the outer flexible cannula 124, and the single continuous curve has a relatively large curvature as compared to the distal end portion131 when the inner rigid rod 104 is in the extended position. For example, the outer flexible cannula 124 may have a curvilinear shape 139 of approximately 45 degrees or in some embodiments up to 180 degrees. For example, the outer flexible cannula 124 may have a curvilinear shape 139 of approximately 90 degrees. It is noted that the outer flexible cannula 124 may have a curvilinear shape 139 up to 180 degrees. In an embodiment, the inner rigid rod 104 may be generally straight and inflexible. With this construction, as shown in the depicted embodiment, the inner rigid rod 104 extends straight inside the channel 140 along the longitudinal length of the outer flexible cannula 124, slides in direct contact with the wall 122 of the outer flexible cannula 124 between the extended position and the retracted position, and straightens the outer flexible cannula 124 at the distal end portion 131 from the curvilinear shape 139 when driven from the retracted position toward the extended position. It is noted that the inner rigid rod 104 may also be provided in any shape as may be suitable or desired for a particular purpose or intended application. It is noted that the inner rigid rod 104 may be capable of multiple shapes, for example of straight shapes and of curved shapes that may be manipulated by wires, pivoting members, gears, and the like.

[0039] With additional reference to FIG. 1. when the inner rigid rod 104 of the device 100 is withdrawn, as shown in FIG. 1, the outer flexible cannula 124 can return to its inherent or predetermined curvilinear shape 139 when the inner rigid rod 104 travels from the extended position toward the retracted position. Similarly, when the inner rigid rod 104 of the device 100 is extended further towards the distal end 142 of the outer flexible cannula 124, the outer flexible cannula 124 can adapt to the shape of the inner rigid rod 104 where the inner rigid rod 104 is inserted. For example, in examples where the inner rigid rod 104 is straight and extended further towards and up to the distal end 142 of the outer flexible cannula 124, the outer flexible cannula 124 may adapt to this straight form and adjust from its otherwise curvilinear shape 139. When the inner rigid rod 104 is extended part way into and towards the distal end 142 of the outer flexible cannula 124, the outer flexible cannula 124 may retain some curvature, but the resulting curvature may be less than its inherent or predetermined curvilinear shape 139. With this construction, the curvilinear shape 139 is curved along the longitudinal length of the outer flexible cannula 124 with a first bend radius when the inner rigid rod 104 is in the retracted position, and the distal end portion 131 is curved along the longitudinal length of the outer flexible cannula 124 with a second bend radius when the inner rigid rod 104 is in the extended position, the second bend radius being larger than the first bend radius. In this manner, the inner rigid rod 104 deforms the outer flexible cannula 124 from the curvilinear shape 139 when traveling from the retracted position toward theextended position. While direction of the imaging sensor 200 and extent of the curvature is described as being controlled by movement of the inner rigid rod 104 relative the outer flexible cannula 124 it is noted that the same may be achieved through movement of the outer flexible cannula 124 relative the inner rigid rod 104 and that such movement of either the inner rigid rod 104 or outer flexible cannula 124 may be interchangeable unless context or this disclosure suggests otherwise.

[0040] The extent to which the inner rigid rod 104 is extended into or withdrawn from the outer flexible cannula 124 relative to its distal end portion 131 may control the degree of curvature of the outer flexible cannula 124. As a result, the position of the inner rigid rod 104 relative the outer flexible cannula 124 may control the position of the distal end portion 131 of the outer flexible cannula 124 (e.g., by manipulating and controlled the extent of the curvature of the outer flexible cannula 124). By controlling the distal end portion 131 of the outer flexible cannula 124 the imaging sensor 200 is also controlled and the field of view and capture of the imaging sensor 200 may be adjusted, articulated, and maneuvered as desired to provide visualization of the desired areas, such as the internal cavities of a surgical site during laparoscopic surgery. In this manner, the distal end portion 131 moves or rotates the imaging sensor 200 relative to the proximal end portion 113 when the outer flexible cannula 124 deforms from the curvilinear shape 139, and oppositely moves or rotates the imaging sensor 200 relative to the proximal end portion 113 when the outer flexible cannula 124 returns to the curvilinear shape 139. In an embodiment, the inner rigid rod 104 is not extendable through or past the distal end portion 131 of the outer flexible cannula 124. In an embodiment, the inner rigid rod 104 is extendable only up to the distal end portion 131 of the outer flexible cannula 124 or up to the imaging sensor 200 at the distal end portion 131 of the outer flexible cannula 124.

[0041] As described herein, the inner rigid rod 104 may be moveable both distally and proximally in a lateral direction w ithin the channel 140 of the outer flexible cannula 124. The movement of the inner rigid rod 104 can manipulate the extent of the curvature of the outer flexible cannula 124 and can thereby direct the view of the imaging sensor 200 on the outer flexible cannula 124. In an embodiment, the movement of the inner rigid rod 104 may be facilitated by a threaded handle 119, in an example, that interfaces with the outer flexible cannula 124, see FIG. 1. In an embodiment, turning the handle 119 or connected component thereof (such as a dial or button) in a radial direction may move the inner rigid rod 104 distally or proximally depending on which direction the handle turned, e.g., clockwise or counterclockwise. With this construction, the handle 1 19 extends to the inner rigid rod 104inside the channel 140 from a side of the proximal end portion 133 opposite the distal end portion 131 along the longitudinal length of the outer flexible cannula 124, where the handle 119 engages the proximal end portion 133 such that turning the handle 1 19 around a circumferential direction of the inner rigid rod 104, perpendicular to the longitudinal length of the outer flexible cannula 124, drives linear translation of the inner rigid rod 104 along the longitudinal length of the outer flexible cannula 124 between the extended position and the retracted position.

[0042] In an embodiment, the movement of the inner rigid rod 104 may be facilitated by a pushing or pulling movement that extends and retracts the inner rigid rod 104 linearly between the extended position and the retracted position through the outer flexible cannula 124. In an embodiment, device 100 may include a lock to lock the inner rigid rod 104 (and thereby the view of the imaging sensor 200) in a particular position. With this construction, the handle 119 extends to the inner rigid rod 104 inside the channel 140 from a side of the proximal end portion 133 opposite the distal end portion 131 along the longitudinal length of the outer flexible cannula 124, where pushing the handle 119 toward the proximal end portion 133 along the longitudinal length of the outer flexible cannula 124 drives the inner rigid rod 104 from the retracted position toward the extended position, and pulling the handle 119 away from the proximal end portion 133 along the longitudinal length of the outer flexible cannula 124 drives the inner rigid rod 104 from the extended position toward the retracted position.

[0043] The handle 119 forms a shoulder 144 that abuts the proximal end portion 133 and obstructs movement by the inner rigid rod 104 along the longitudinal length of the outer flexible cannula 124 when the inner rigid rod 104 is in the extended position. In this manner, the shoulder 144 obstructs movement of the inner rigid rod 104 from the retracted position, passed the extended position along the longitudinal length of the outer flexible cannula 124.

[0044] Upon the distal end portion 131 of the outer flexible cannula 124 achieving a desired degree of curvature, the imaging sensor 200 on the distal end portion 131 of the outer flexible cannula 124 may be positioned to capture a desired area. The curved distal end portion 131 of the outer flexible cannula 124 may enable the surgical staff to position the device 100 and imaging sensor 200 around anatomical structures and into otherwise obstmcted areas. The distal end portion 131 can also deconflict with other robotic instrumentation at the working site and aid in providing visualization and a cohesive working environment. The device 100 may allow for control and direction of the imaging sensor 200 (and angle and position of the image and video capture thereol) while maintaining a relatively small profile and low-weightdesign.

[0045] In an embodiment, the device 100 may be used to take biopsies using minimally invasive and laparoscopic surgical techniques. For example, the device 100 may be used to obtain tissue samples from organs or other structures within the abdominal cavity for diagnostic or other purposes. In an embodiment, the device 100 may include a separate biopsy channel that may be adjacent the outer flexible cannula 124. The separate biopsy channel may be used to access and retrieve biopsy samples while the imaging sensor 200 can occupy the entire circumference of the channel 140 of the outer flexible cannula 124 so that the distal end portion 131 of the outer flexible cannula 124 may be sealed, e.g., liquid or air tight, so that fluids and debris are unable to enter the channel 140 of the outer flexible cannula 124.

[0046] In an embodiment, the device 100 may include a separate biopsy channel that may be within the outer flexible cannula 124. The separate biopsy channel may be nested within the outer flexible cannula 124 and adjacent the inner rigid rod 104. The separate biopsy channel may be nested within the outer flexible cannula 124 and may circumscribe the inner rigid rod 104 (so that the inner ngid rod 104 is also nested within the separate biopsy channel). In an embodiment, the inner rigid rod 104 may be hollow and the separate biopsy channel may be within the inner rigid rod 104. Generally, the biopsy channel may have selective access to the external environment so that a tissue sample can be biopsied and retrieved through the biopsy channel.

[0047] The separate biopsy channel may allow the insertion of other laparoscopic or biopsy instruments, including, for example, graspers, scissors, forceps, and the like. It is noted that these other laparoscopic or biopsy instruments may also be inserted into and utilized through the outer flexible cannula 124 or inner rigid rod 104 (in embodiments where the inner rigid rod 104 is hollow) so that the channel(s) of either the outer flexible cannula 124 or inner rigid rod 104, where applicable, can also be used as a biopsy channel.

[0048] The device 100, imaging sensor 200, and ability to direct the field of view and capture of the imaging sensor 200 (e.g., through manipulation of inherent curvilinear properties of the curvilinear shape 139 of the outer flexible cannula 124 by translation of the inner rigid rod 104) can be used to provide visualization of a desired biopsy site during laparoscopic surgery. The device 100, imaging sensor 200, and ability to direct the field of view and capture of the imaging sensor 200 (e.g., through manipulation of inherent curvilinear properties of the curvilinear shape 139 of the outer flexible cannula 124 by translation of the inner rigid rod 104) can also be used to direct the biopsy instruments and retrieve biopsy samples.

[0049] As described herein, the outer flexible cannula 124 of the device 100 possesses, in an embodiment, inherent curvilinear properties of the curvilinear shape 139. The outer flexible cannula 124 may be elastically deformed upon the insertion of the inner rigid rod 104 into the channel 140 or passageway of the outer flexible cannula 124. Upon the removal of the inner rigid rod 104 the outer flexible cannula 124 resumes its natural curved shape 129. As depicted in FIG. 1, the inner rigid rod 104 has been withdrawn partially to enable the outer flexible cannula 124 to return to a shape consistent with approximately a 45-degree distal end deflection. In an embodiment, the distal end portion 131 , body, and / or proximal end portion 133 of the outer flexible cannula 124 can include fiducial markers to aid in its positioning into a surgical site and to track the depth of insertion into a cavity. As the inner rigid rod 104 is withdrawn further, the outer flexible cannula 124 may continue to curve. In an embodiment, the distal end portion 131 of the outer flexible cannula 124 can achieve a 90- degree deflection with respect to the distal end portion 111 of the inner rigid rod 104. The curv ed nature of the outer flexible cannula 124 can be achieved by having tubing forming the distal end portion 131 elastically pre-bent by a mold, temperature curing or any other manufacturing process to achieve the curving action as may be suitable or desired for a particular purpose or intended application.

[0050] In an embodiment, a method 300 for positioning and articulating device 100 is shown in FIG. 5. At step 310, method 300 may include extending an inner rigid rod (such as inner rigid rod 104) through a channel of an outer flexible cannula (such as outer flexible cannula 124) to provide a straight configuration of the device 100. More specifically, the method 300 at step 310 may include driving the inner rigid rod 104 through the channel 140 defined in the outer flexible cannula 124 from the extended position to the retracted position, away from the imaging sensor 200 at the distal end portion 131 of the outer flexible cannula 124 along a longitudinal length of the outer flexible cannula 124, where the outer flexible cannula 124 is elastically biased and conforms toward the curvilinear shape 139 as the inner rigid rod 104 travels toward the retracted position. Driving the rod at step 310 may include actuating the handle 119 fixed with the inner rigid rod 104 in the channel 140 at the proximal end portion 133 of the outer flexible cannula 124, where the handle 119 extends through a side of the proximal end portion 133 opposite the distal end portion 131 along the longitudinal length of the outer flexible cannula 124, and linearly translates the inner rigid rod 104 through the channel 140.

[0051] At step 320, method 300 may include inserting the device 100 in the straight configuration into a body cavity. In an embodiment, the body cavity is a surgical site in alaparoscopic surgery.

[0052] At step 330, method 300 may include retracting the inner rigid rod (such as inner rigid rod 104) so that a distal end portion of the outer flexible cannula (such as distal end portion 131 of outer flexible cannula 124) extends beyond a distal end of the inner rigid tube (such as distal end portion 111 of inner rigid rod 104), allowing the distal end of the outer flexible cannula to return to a curvilinear shape (such as curvilinear shape 139). More specifically, the method 300 at step 310 may include driving the inner rigid rod 104 through the channel 140 from the retracted position toward the extended position, toward the imaging sensor 200 along the longitudinal length of the outer flexible cannula 124, where the inner rigid rod 104 deforms the outer flexible cannula 124 from the curvilinear shape 139 toward a straight configuration having a reduced curvature along the longitudinal length of the outer flexible cannula 124.

[0053] At step 340, method 300 may include extending and retracting the inner rigid rod as desired to position an imaging sensor (such as imaging sensor 200) on the distal end of the outer flexible cannula. In this regard, in an embodiment, driving the inner rigid rod 104 from the extended position toward the retracted position is performed inside the body cavity, and includes gradually adjusting a field of view of the imaging sensor 200 relative to the proximal end portion 133 between a first orientation caused by the inner rigid rod 104 being in the extended position, and a second orientation caused by the inner rigid rod 104 being in the retracted position.

[0054] In another embodiment, the imaging sensor 200 may be positioned on the distal end portion 111 of the inner rigid rod 104. In an embodiment, the inner rigid rod 104 may include a bending mechanism at, near, or adjacent the distal end portion 111 of the inner rigid rod 104. When the inner rigid rod 104 is fully inserted in the channel 140 of the outer flexible cannula 124, the inner rigid rod 104 may straighten the outer flexible cannula 124, or cause the curvilinear shape 139 of the outer flexible cannula 124 to be less pronounced. As the inner rigid rod 104 is moved proximally, the curvilinear shape 139 of the outer flexible cannula 124 may cause the inner rigid rod 104 to bend, thus changing the angle of view of the imaging sensor 200.

[0055] In an embodiment, the device 100 may be single use or disposable. In an embodiment, the entire device 100 may be single use or disposable. In an embodiment, components of device 100 may be single use or disposable. For example, imaging sensor 200, inner rigid rod 104 and outer flexible cannula 124 may be single use or disposable and may be removed and replaced on the same handle 119. For example, outer flexible cannula 124 may be single useor disposable and may be removed and replaced on the same inner rigid rod 104 and handle 119. Having a single use or disposable device may prevent the need from having to sterilize the device in between surgical procedures, which can often be extremely difficult to do. This may prevent contamination of a patient when using the device 100, which could help reduce the potential likelihood of infection.

[0056] In an example, the outer flexible cannula 124 may be formed from medical grade tubing. Medical tubing is used for fluid management and drainage as well as with anesthesiology and respiratory equipment, IVs, catheters, peristaltic pumps, and biopharmaceutical laboratory equipment. It is noted that a broad range of materials used to construct medical tubing may be suitable. As will be appreciated by one of reasonable skill in the relevant art, the type of material used in the outer flexible cannula can provide certain performance properties such as abrasion resistance, hardness, flexibility, and durability. The minimum bend radius of the outer flexible cannula 124 may be selected such that the outer flexible cannula 124 will not kink or be permanently deformed when extended beyond the distal end portion 111 of the inner rigid rod 104 or when positioned over the inner rigid rod 104. Materials suitable for use in construction of the outer flexible cannula 124 can include, but are not limited to, Ethylene Propylene (EP), Fluoro-elastomer (FKM), Isobutylene Isoprene Butyl (IIR), Isoprene (IR), Nitrile Rubber (NBR), Poly chloroprene (CR), Polyurethane (PU), Silicone Rubber, Styrene-butadiene (SBR) and the like. It is noted that the outer flexible cannula 124 may include any flexible material as may be suitable or desired for a particular purpose or intended application.

[0057] In an example, inner rigid rod 104 may be formed from medical grade metal or plastic. For example, the inner rigid rod 104 may formed from stainless steel, titanium, polycarbonate, acrylic, and the like. It is noted that the inner rigid rod 104 may include any flexible material as may be suitable or desired for a particular purpose or intended application.

[0058] Although the subject matter has been described in language specific to structural features or methodological acts, it is to be understood that the subj ect matter of the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example aspects.

[0059] Various operations of aspects are provided herein. The order in which one or more or all of the operations are described should not be construed as to imply that these operations are necessarily order dependent. Alternative ordering will be appreciated based on this description. Further, not all operations may necessarily be present in each aspect providedherein.

[0060] As used in this application, "or" is intended to mean an inclusive "or" rather than an exclusive "or". Further, an inclusive “of’ may include any combination thereof (e.g.. A, B, or any combination thereof). In addition, "a" and "an" as used in this application are generally construed to mean "one or more" unless specified otherwise or clear from context to be directed to a singular form. Additionally, at least one of A and B and / or the like generally means A or B or both A and B. Further, to the extent that "includes", "having", "has", "with", or variants thereof are used in either the detailed description or the claims, such terms are intended to be inclusive in a manner similar to the term "comprising”.

[0061] Further, unless specified otherwise, “first”, “second”, or the like are not intended to imply a temporal aspect, a spatial aspect, an ordering, etc. Rather, such terms are merely used as identifiers, names, etc. for features, elements, items, etc. For example, a first channel and a second channel generally correspond to channel A and channel B or two different or two identical channels or the same channel. Additionally, “comprising”, “comprises”, “including”, “includes”, or the like generally means comprising or including, but not limited thereto.

[0062] Although the embodiments of the present teachings have been illustrated in the accompanying drawings and described in the foregoing detailed description, it is to be understood that the present teachings are not to be limited to just the embodiments disclosed, but that the present teachings described herein are capable of numerous rearrangements, modifications and substitutions without departing from the scope of the claims hereafter. The claims as follows are intended to include all modifications and alterations insofar as they come within the scope of the claims or the equivalent thereof.

Claims

CLAIMS:

1. An imaging device comprising: a cannula that defines a channel extended a longitudinal length from a proximal end portion toward a distal end portion, wherein the distal end portion forms a curvilinear shape along the longitudinal length of the cannula; an imaging sensor fixed with the cannula, at the curvilinear shape along the longitudinal length of the cannula; and a rod disposed within the channel, wherein the rod travels along the longitudinal length of the cannula between a retracted position and an extended position, the rod is located closer to the distal end portion in the extended position as compared to the retracted position, and the rod deforms the cannula from the curvilinear shape when traveling from the retracted position toward the extended position.

2. The imaging device of claim 1, wherein the distal end portion is elastically biased toward the curvilinear shape, the rod is closer to the proximal end portion in the retracted position as compared to the extended position, and the cannula returns toward the curvilinear shape when the rod is in the retracted position.

3. The imaging device of claim 2, wherein the cannula includes a wall that defines the channel and is formed from a molded material that elastically biases the distal end portion toward the curvilinear shape, the distal end portion forms the curvilinear shape when the rod is in the retracted position, and the rod is rigid as compared to the wall.

4. The imaging device of claim 2, wherein the distal end portion moves or rotates the imaging sensor relative to the proximal end portion when the cannula deforms from the curvilinear shape, and oppositely moves or rotates the imaging sensor relative to the proximal end portion when the cannula returns to the curvilinear shape.

5. The imaging device of claim 1, wherein the rod linearly translates along the longitudinal length of the cannula between the retracted position and the extended position.

6. The imaging device of claim 1, wherein the curvilinear shape is curved along the longitudinal length of the cannula with a first bend radius when the rod is in the retracted position, the distal end portion is curved along the longitudinal length with a second bendradius when the rod is in the extended position, and the second bend radius is larger than the first bend radius.

7. The imaging device of claim 6, wherein the curvilinear shape is a single continuous curve in the distal end portion along the longitudinal length of the cannula, and the single continuous curve has a relatively large curvature as compared to the distal end portion when the rod is in the extended position.

8. The imaging device of claim 1, wherein the rod extends straight inside the channel along the longitudinal length of the cannula, slides in direct contact with the cannula between the extended position and the retracted position, and straightens the cannula from the curvilinear shape when driven from the retracted position toward the extended position.

9. The imaging device of claim 8, further comprising a threaded handle that extends to the rod inside the channel from a side of the proximal end portion opposite the distal end portion along the longitudinal length of the cannula, wherein the threaded handle engages the proximal end portion such that turning the handle drives linear translation of the rod along the longitudinal length of the cannula between the extended position and the retracted position.

10. The imaging device of claim 8. further comprising a handle that extends to the rod inside the channel from a side of the proximal end portion opposite the distal end portion along the longitudinal length of the cannula, wherein pushing the handle toward the proximal end portion along the longitudinal length of the cannula drives the rod from the retracted position toward the extended position, and pulling the handle away from the proximal end portion along the longitudinal length of the cannula dnves the rod from the extended position toward the retracted position.

11. The imaging device of claim 1, further comprising a handle that extends to the rod inside the channel from a side of the proximal end portion opposite the distal end portion along the longitudinal length of the cannula, wherein inserting the handle into the proximal end portion along the longitudinal length of the cannula drives the rod toward the extended position, removing the handle from the proximal end portion along the longitudinal length of the cannula drives the rod toward the retracted position, andthe handle forms a shoulder that abuts the proximal end portion and obstructs movement by the rod along the longitudinal length of the cannula when the rod is in the extended position.

12. The imaging device of claim 8, wherein an inner surface of the cannula defining the channel directly contacts and circumscribes an outer surface of the rod along the longitudinal length of the cannula.

13. The imaging device of claim 1, further comprising a wired connection that extends from the imaging sensor, through the distal end portion and the proximal end portion along the longitudinal length of the cannula, wherein the wired connection delivers power to the imaging sensor from an external device outside the cannula, or transmits data from the imaging device to the external device.

14. The imaging device of claim 13, wherein the cannula includes a wall that forms the proximal end portion and the distal end portion, the wall forms an inner surface that defines the channel, the wall forms a closed distal end at a side of the distal end portion opposite the proximal end portion along the longitudinal length of the cannula, and the wired connection extends from the imaging sensor, through the cannula, to a side of the proximal end portion opposite the distal end portion along the longitudinal length of the cannula.

15. The imaging device of claim 1, wherein the cannula includes a wall that forms the proximal end portion and the distal end portion, the wall forms an inner surface that defines the channel, the wall forms an open distal end in the distal end portion at a side of the distal end portion opposite the proximal end portion along the longitudinal length of the cannula, and the imaging sensor is sealed against the inner surface of the wall along an entire circumference of the channel.

16. An imaging device comprising: a cannula that defines a channel extended a longitudinal length from a proximal end portion toward a distal end portion, wherein the distal end portion is elastically biased toward a curvilinear shape along the longitudinal length of the cannula; an imaging sensor fixed with the cannula, at the curvilinear shape along the longitudinal length of the cannula; anda rod disposed within the channel, wherein the rod travels along the longitudinal length of the cannula between a retracted position and an extended position, the rod is located closer to the proximal end portion in the retracted position as compared to the extended position, and the cannula conforms to the curvilinear shape as the rod travels through the channel from the extended position toward the retracted position.

17. The imaging device of claim 16, wherein the rod is located closer to the distal end portion in the extended position as compared to the retracted position, and the rod deforms the cannula from the curvilinear shape to extend straight along the longitudinal length of the cannula as the rod travels from the retracted position toward the extended position.

18. A method of using an imaging device, comprising: driving a rod through a channel defined in a cannula from an extended position to a retracted position, away from an imaging sensor at a distal end portion of the cannula along a longitudinal length of the cannula, wherein the cannula is elastically biased and conforms toward a curvilinear shape as the rod travels toward the retracted position; and driving the rod through the channel from the retracted position toward the extended position, toward the imaging sensor along the longitudinal length of the cannula, wherein the rod deforms the cannula from the curvilinear shape toward a straight configuration having a reduced curvature along the longitudinal length of the cannula.

19. The method of claim 18, wherein driving the rod includes actuating a handle fixed with the rod in the channel at a proximal end portion of the cannula, wherein the handle extends through a side of the proximal end portion opposite the distal end portion along the longitudinal length of the cannula, and linearly translates the rod through the channel.

20. The method of claim 19, further comprising inserting the imaging device into a body cavity with the rod in the extended position, wherein driving the rod from the extended position toward the retracted position is performed inside the body cavity, and includes gradually adjusting a field of view of the imaging sensor relative to the proximal end portion between a first orientation caused by the rod being in the extended position, and a second orientation caused by the rod being in the retracted position.

Images