Stereoscopic Camera Tube Rotation for Multi-View Minimally Invasive Surgery
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Solution Overview
Problem
Conventional minimally invasive surgeries require manual manipulation of endoscopic cameras for multiple views, disrupting surgeon focus and increasing operation times, while multiple-camera setups increase patient morbidity and decrease workspace.
Innovation Solution
A robotic camera system with a stereoscopic camera assembly and actuation system providing rotational degrees of freedom, allowing camera control through head movements, maintaining surgeon immersion in virtual reality and reducing manual manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If multiple endoscopic cameras are used to obtain multiple views, then the field of view is improved, but the number of incisions increases leading to increased patient morbidity
Solution Approach 1:
The patent divides the camera system into multiple independently controllable cameras, each providing a different view angle. Instead of using one camera that must be physically moved, the system segments the viewing function across multiple fixed cameras, allowing the surgeon to select between views without moving a single camera through multiple positions or making multiple incisions.
Solution Approach 2:
The robotic camera system provides multi-functionality by enabling a single surgical port to achieve multiple viewing angles and perspectives. The system can switch between various camera views (en face, lateral, oblique, etc.) without requiring additional incisions, making the single port versatile for different surgical needs.
2Area of stationary object
If the surgeon manually maneuvers the endoscopic camera to obtain different views, then the field of view is improved, but the surgeon's focus is diverted from the operation leading to longer operation times
Solution Approach 1:
The system enables self-service viewing by allowing the surgeon to control camera positioning and view selection through intuitive interfaces (voice commands, gestures, or console controls) without physically manipulating the camera. The robotic system automatically adjusts camera positions and orientations based on surgeon input, eliminating the time-consuming manual repositioning while keeping the surgeon's hands free for the operation.
Solution Approach 2:
The patent replaces manual mechanical camera manipulation with an automated robotic system. Instead of the surgeon physically moving the camera with their hands, the robotic arm autonomously positions and orients the camera based on electronic commands, substituting mechanical hand manipulation with automated robotic mechanics controlled through intuitive interfaces.
3Area of stationary object
If the surgeon manually moves the endoscopic camera to obtain a larger view, then the field of view is improved, but the surgeon must switch focus from performing the operation leading to increased risk of accidents
Solution Approach 1:
The robotic camera system provides self-service functionality where the camera automatically positions itself to provide optimal views without requiring the surgeon to divert attention. The surgeon can request different views through simple commands while maintaining focus on the surgical task, as the robotic system independently handles camera positioning and adjustment.
Solution Approach 2:
The system replaces manual camera manipulation mechanics with automated robotic mechanics. This substitution eliminates the need for the surgeon to physically handle the camera, removing the safety risk associated with switching focus between camera control and surgical manipulation. The robotic system autonomously manages camera positioning while the surgeon concentrates on the operation.
Data Source
AI summary
A system includes a console assembly, a trocar assembly operably coupled to the console assembly, a camera assembly operably coupled to the console assembly having a stereoscopic camera assembly, and at least one rotational positional sensor configured to detect rotation of the stereoscopic camera assembly about at least one of a pitch axis or a yaw axis. The console assembly includes a first actuator and a first actuator pulley operable coupled to the first actuator. The trocar assembly includes a trocar having an inner and outer diameter, and a seal sub-assembly comprising at least one seal and the seal sub-assembly operably coupled to the trocar. The camera assembly includes a camera support tube having a distal and a proximal end, the stereoscopic camera operably coupled to the distal end of the support tube and a first and second camera module having a first and second optical axis.