HERMETICALLY SEALED DISTAL SENSOR ENDOSCOPE
First Claim
Patent Images
1. A minimally invasive surgical camera module comprising:
- a first hollow housing having a first opening and a second opening opposite the first opening;
a base hermetically sealed to the first hollow housing to close the first opening of the first hollow housing;
a stereo camera supported by the base and hermetically sealed within the first hollow housing;
a first window hermetically sealed to the first hollow housing to close the second opening with optical axes of the stereo camera projecting through the first window, wherein the first window is transparent to wavelengths of electromagnetic radiation captured by the stereo camera;
a second hollow housing coaxial around the first hollow housing, the second hollow housing configured to couple to a joint of a robotic surgical instrument; and
a plurality of optical fibers between the first hollow housing and the second hollow housing terminating at a distal end of the second hollow housing, the plurality of optical fibers to direct electromagnetic radiation into a surgical site.
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Abstract
In one embodiment, an endoscopic camera for a robotic surgical system includes a stereo camera module mounted to a robotic arm of a patient side cart. The optical and electro-optic components of the camera module are hermetically sealed within a first housing. Signals from an electro-optic component travel through traces in a ceramic substrate forming one side of the hermetically sealed first housing. A second housing surrounds the first housing and optical fibers are dispersed between the housings to provide lighting in a body cavity. The camera module may be sterilized by an autoclave.
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Citations
31 Claims
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1. A minimally invasive surgical camera module comprising:
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a first hollow housing having a first opening and a second opening opposite the first opening; a base hermetically sealed to the first hollow housing to close the first opening of the first hollow housing; a stereo camera supported by the base and hermetically sealed within the first hollow housing; a first window hermetically sealed to the first hollow housing to close the second opening with optical axes of the stereo camera projecting through the first window, wherein the first window is transparent to wavelengths of electromagnetic radiation captured by the stereo camera; a second hollow housing coaxial around the first hollow housing, the second hollow housing configured to couple to a joint of a robotic surgical instrument; and a plurality of optical fibers between the first hollow housing and the second hollow housing terminating at a distal end of the second hollow housing, the plurality of optical fibers to direct electromagnetic radiation into a surgical site. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method of forming a minimally invasive surgical camera module, the method comprising:
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mounting a stereo camera to a base; hermetically sealing a first opening in a lower hollow cylindrical housing portion to the base; inserting a lower portion of a pair of lens barrels through a second opening in the lower hollow cylindrical housing portion in an off axis alignment position with the optical axes of the stereo camera; hermetically sealing a first window over a first opening in an upper hollow cylindrical housing portion to form a cap sub-assembly; guiding a second opening in the upper hollow cylindrical housing portion over an upper portion of the pair of lens barrels to couple to the second opening in the lower hollow cylindrical housing portion; hermetically sealing around edges of the second openings to hermetically seal the upper hollow cylindrical housing portion and the lower hollow cylindrical housing portion together to form a first hollow cylindrical housing with a chamber; arranging a plurality of optical fibers around the first hollow cylindrical housing; coaxially mounting a second hollow cylindrical housing over the first hollow cylindrical housing and a first portion of the plurality of optical fibers. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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21. An endoscopic camera instrument comprising:
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an interface base configured to mount to and dismount from a robotic arm, the interface base including an electrical connector; a hollow shaft have a first end coupled to the interface base and a second end opposite the first end; a joint coupled to the second end of the hollow shaft; and a camera module coupled to the joint, the camera module including a ceramic substrate with first pads on a first side electrically coupled to second pads on a second side; a sensor coupled to one or more of the second pads on the second side of the ceramic substrate, the sensor having an active pixel array to capture electromagnetic radiation as images; a lower inner hollow cylindrical housing portion having a first open end over the sensor and hermetically sealed to the ceramic substrate, the lower inner hollow cylindrical housing portion having a second open end opposite the first open end; at least one lens barrel with a lower portion inserted into the lower inner hollow cylindrical housing portion over the sensor to focus electromagnetic radiation onto the active pixel array; an upper inner hollow cylindrical housing portion around an upper portion of the at least one lens barrel having a first open end hermetically sealed to the second open end of the lower inner hollow cylindrical housing portion to form an inner hollow cylindrical housing, the upper inner hollow cylindrical housing portion having a second open end opposite the first open end; a first window hermetically sealed to the second open end of the upper inner hollow cylindrical housing, wherein the first window is transparent to wavelengths of electromagnetic radiation captured by the sensor; and a second hollow cylindrical housing coaxial with, spaced apart, and insulated from the inner hollow cylindrical housing, the second hollow cylindrical housing having an end coupled to the joint near the second end of the hollow shaft to support the camera module. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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Specification