SURGICAL TROCARS AND IMAGE ACQUISITION METHOD USING THE SAME

• US 20140330077A1
• Filed: 01/13/2014
• Published: 11/06/2014
• Est. Priority Date: 05/02/2013
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: YOON, Suk June, ROH, Kyung Shik, PARK, Soon Yong, AHN, Sung Hwan, HWANG, Won Jun, HWANG, Hyo Seok, LEE, Ji Hyo
• Granted Patent: US 10,448,812 B2
• Time in Patent Office: Days
• US Class Current: 600/109
• CPC Class Codes: A61B 1/00097 Sensors
• CPC Class Codes: A61B 1/00183 for variable viewing angles
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 17/34 Trocars; Puncturing needles pointed biopsy instruments A61B10/0233; devices for piercing the ear-lobes A44C7/001; seals or hemostasis valves A61M39/06
• CPC Class Codes: A61B 17/3415 for introducing tubes or catheters, e.g. gastrostomy tubes, drain catheters A61B17/3417 takes precedence; body piercing catheter guide needles A61M25/06
• CPC Class Codes: A61B 17/3417 Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating syringe needles A61M5/32; dilators A61M29/00
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 17/3423 Access ports, e.g. toroid shape introducers for instruments or hands access sites for liquids A61M39/0247
• CPC Class Codes: A61B 2017/00283 with a device releasably connected to an inner wall of the abdomen during surgery, e.g. an illumination source
• CPC Class Codes: A61B 2017/3445 used as instrument channel for multiple instruments catheters A61B2017/22072
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/57 Accessory clamps
• CPC Class Codes: A61M 2025/028 having a mainly rigid support structure
• CPC Class Codes: A61M 2039/0279 for introducing medical instruments into the body, e.g. endoscope, surgical tools

Abstract

Surgical trocars, and image acquisition method using the same, include a body having a passage configured to receive at least one surgical instrument, and at least one camera movably coupled to an outer wall of the body.

Claims

1. A surgical trocar, comprising:

a body having a passage configured to receive at least one surgical instrument; and

at least one camera movably coupled to an outer wall of the body.

2. The surgical trocar according to claim 1, further comprising:

a first link having a first end provided with the at least one camera and a second end; and

a first joint connecting the second end of the first link and an outer wall of the body to each other,

wherein the first link is configured to move as the first joint is rotated.

3. The surgical trocar according to claim 2, wherein the second end of the first link includes,

a first coupling portion connected to the outer wall of the body via the first joint, and

a second coupling portion separated from the first coupling portion.

4. The surgical trocar according to claim 3, further comprising:

a second link having a first end connected to the second coupling portion of the first link, and a second end protruding outward from the body in a longitudinal direction of the passage;

a third link having a first end connected to the outer wall of the body, and a second end connected to the second link;

a second joint connecting the first end of the second link and the second coupling portion provided at the second end of the first link to each other;

a third joint connecting the first end of the third link and the outer wall of the body to each other; and

a fourth joint connecting the second end of the third link and the second link to each other.

5. The surgical trocar according to claim 4, further comprising:

a groove in the outer wall of the body, the groove extending in a longitudinal direction of the passage,

wherein the second end of the first link, the first end of the second link, and the third link are inserted into the groove.

6. The surgical trocar according to claim 4, wherein the second end of the first link, the first end of the second link, and the third link are configured not to extend beyond the outer wall of the body when inserting the surgical trocar in an incision of a patient.

7. The surgical trocar according to claim 4, wherein the second end of the first link, the first end of the second link, and the third link are configured to be planar with the outer wall of the body when inserting the surgical trocar in an incision of a patient.

8. The surgical trocar according to claim 4, wherein the second coupling portion of the first link connected to the first end of the second link is configured to move in a pulling direction of the second link if the second end of the outwardly protruding second link is pulled, and

the first link is configured to move as the first joint is rotated via movement of the second coupling portion.

9. The surgical trocar according to claim 2, further comprising:

a groove in the outer wall of the body to have a set length in a peripheral direction,

wherein the first link and the camera are configured to be inserted into the groove.

10. The surgical trocar according to claim 9, further comprising:

a drive unit provided at the first joint to rotate the first joint.

11. The surgical trocar according to claim 10, wherein the first link and the at least one camera are configured to be inserted into the groove or protrude outward according to rotation of the first joint.

12. The surgical trocar according to claim 10, wherein the drive unit includes a motor.

13. The surgical trocar of claim 2, wherein the first link is configured to be planar with the outer wall of the body when inserting the surgical trocar in an incision of a patient.

14. The surgical trocar of claim 2, wherein the first link is configured not to extend beyond the outer wall of the body when inserting the surgical trocar in an incision of a patient.

15. An image acquisition method using a surgical trocar including a main body having a passage configured to receive at least one surgical instrument, the method comprising:

inserting the surgical trocar into an incision formed in a body of a patient;

moving at least one camera movably coupled to an outer wall of the main body to a given position; and

acquiring at least one image of an interior of the body of the patient.

16. The method according to claim 15, wherein the inserting of the surgical trocar includes inserting the at least one camera inside the body of the patient.

17. The method according to claim 15, wherein the moving of the at least camera to the given position is performed by a user moving a link of the main body, or by using a drive motor operatively connected to the surgical trocar.

18. The method according to claim 15, wherein the at least one camera includes a plurality of cameras configured to each be moved to different positions respectively.

19. The method according to claim 18, further comprising:

after the acquiring of the at least one image, matching a plurality images of the at least one image to one another to form a final image.

20. The method according to claim 19, wherein the formation of the final image includes,

extracting at least one feature from respective images of the plurality of images, and

estimating homography between the respective images using the extracted features, and

matching the respective images to one another using the estimated homography.