Surgical retractor with video cameras

• US 9,492,065 B2
• Filed: 03/13/2013
• Issued: 11/15/2016
• Est. Priority Date: 06/27/2012
• Status: Active Grant

• Current Assignee: CamPlex, Inc.
• Original Assignee: CamPlex, Inc.
• Inventors: Tesar, John, Charles, Steven T.
• Primary Examiner(s): COLEY, ZADE JAMES
• Application Number:
  US13/802,362
• Publication Number:
  US 20140005489A1
• Time in Patent Office: 1,343 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 1/000095 for image enhancement
• CPC Class Codes: A61B 1/0004 for electronic operation
• CPC Class Codes: A61B 1/00045 Display arrangement
• CPC Class Codes: A61B 1/0005 combining images e.g. side-by-side, superimposed or tiled
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/045 Control thereof
• CPC Class Codes: A61B 1/051 Details of CCD assembly
• CPC Class Codes: A61B 1/24 for the mouth, i.e. stomatoscopes, e.g. with tongue depressors tongue depressors per se A61B13/00; Instruments for opening or keeping open the mouth combined with saliva removers A61C17/00; mouth openers for animals A61D15/00
• CPC Class Codes: A61B 1/32 Devices for opening or enlarging the visual field, e.g. of a tube of the body dilators A61M29/00
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 17/02 for holding wounds open; Tractors specula A61B1/32 ; drainage appliances for wounds A61M27/00
• CPC Class Codes: A61B 17/0206 with antagonistic arms as supports for retractor elements
• CPC Class Codes: A61B 17/0218 for minimally invasive surgery A61B17/0281, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/025 Joint distractors
• CPC Class Codes: A61B 17/0293 with ring member to support retractor elements
• CPC Class Codes: A61B 17/16 Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans arthroscopic bone cutters A61B17/320016; dental implant drills potentially for other surgical use A61C8/0089; bone grinders A61F2/4644, A22C17/06; A61B17/1662 takes precedence over all other subgroups except A61B17/17
• CPC Class Codes: A61B 17/1604 Chisels; Rongeurs; Punches; Stamps
• CPC Class Codes: A61B 17/1628 Motors; Power supplies
• CPC Class Codes: A61B 17/1644 using fluid other than turbine drive fluid
• CPC Class Codes: A61B 17/3211 : Surgical scalpels, knives; Accessories therefor
• CPC Class Codes: A61B 2017/00207 : with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2017/0256 : for the spine
• CPC Class Codes: A61B 2090/371 : with simultaneous use of two cameras
• CPC Class Codes: A61B 2576/00 : Medical imaging apparatus involving image processing or analysis A61B1/00009, A61B6/52 and A61B8/52 take precedence; image processing per se G06T; details of algorithms for analysing medical images G06T7/0012
• CPC Class Codes: A61B 34/20 : Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 5/0077 : Devices for viewing the surface of the body, e.g. camera, magnifying lens
• CPC Class Codes: A61B 5/7425 : Displaying combinations of multiple images regardless of image source, e.g. displaying a reference anatomical image with a live image geometric transforms for image registration G06T3/14; enhancement using image fusion G06T5/50; algorithms for registration of images G06T7/30
• CPC Class Codes: A61B 5/7475 : User input or interface means, e.g. keyboard, pointing device, joystick
• CPC Class Codes: A61B 50/13 : Trolleys, e.g. carts
• CPC Class Codes: A61B 50/15 : Mayo stands; Tables
• CPC Class Codes: A61B 90/20 : Surgical microscopes characterised by non-optical aspects
• CPC Class Codes: A61B 90/30 : Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation

Abstract

A surgical device includes a plurality of cameras integrated therein. The view of each of the plurality of cameras can be integrated together to provide a composite image. A surgical tool that includes an integrated camera may be used in conjunction with the surgical device. The image produced by the camera integrated with the surgical tool may be associated with the composite image generated by the plurality of cameras integrated in the surgical device. The position and orientation of the cameras and/or the surgical tool can be tracked, and the surgical tool can be rendered as transparent on the composite image. A surgical device may be powered by a hydraulic system, thereby reducing electromagnetic interference with tracking devices.

Claims

1. A medical apparatus comprising:

a surgical retractor configured to hold open an incision and thereby provide a pathway for access of surgical tools to a surgical site, the surgical retractor having a first end, a second end, a retractor frame configured to support surfaces that hold open the incision from of sides of the incision, and a longitudinal axis extending between the first and second ends, wherein the pathway extends along the longitudinal axis into the surgical site and the first end is more proximal than the second end;

a proximal support frame comprising a camera platform and a curved support, the camera platform configured to move along the curved support the proximal support frame disposed above said retractor frame closer to said first end of said retractor than said second end of said retractor; and

a plurality of video cameras inwardly facing toward the pathway, the video cameras comprising a distal video camera at a distal location with respect to said first end of said surgical retractor within said pathway provided by said surgical retractor, and a proximal video camera attached to the camera platform of said proximal support frame,

wherein said proximal video camera is configured to be moved from one location on said proximal support frame to another location on said proximal support frame while still coupled to the proximal support frame.

2. The medical apparatus of claim 1, wherein the surgical retractor comprises a plurality of retractor blades and said distal video camera is disposed on at least one of the plurality of the retractor blades, said retractor frame configured to support said retractor blades.

3. The medical apparatus of claim 1, wherein the surgical retractor comprises a tube and said distal video camera is disposed on an inside surface of the tube.

4. The medical apparatus of claim 1, wherein the proximal support frame is attached to the retractor.

5. The medical apparatus of claim 1, wherein the plurality of video cameras comprises a plurality of proximal video cameras at a plurality of proximal locations or a plurality of distal video cameras at a plurality of distal locations.

6. The medical apparatus of claim 5, wherein the plurality of proximal video cameras comprises at least 3 video cameras.

7. The medical apparatus of claim 5, wherein the plurality of distal video cameras comprises at least 3 video cameras.

8. The medical apparatus of claim 1, wherein the surgical retractor is configured for use in spine surgery.

9. The medical apparatus of claim 1, wherein the surgical retractor is configured for use in head or neck surgery.

10. The medical apparatus of claim 1, wherein the surgical retractor is configured for use in neurosurgery.

11. The medical apparatus of claim 1, wherein the plurality of video cameras comprises at least 8 video cameras.

12. The medical apparatus of claim 1, wherein the plurality of video cameras comprises at least 6 video cameras.

13. The medical apparatus of claim 1, wherein the plurality of video cameras comprises at least one stereo camera pair.

14. The medical apparatus of claim 1, wherein the plurality of video cameras comprises at least two stereo camera pairs.

15. The medical apparatus of claim 1, wherein at least one of the video cameras is disposed on an inside surface of a tube.

16. The medical apparatus of claim 1, wherein the proximal camera provides a view of the surgical site from outside the surgical site.

17. The medical apparatus of claim 16, wherein the distal camera provides a view of the surgical site from within the surgical site.

18. The medical apparatus of claim 1, wherein the plurality of video cameras comprises a plurality of proximal video cameras at a plurality of proximal locations and a plurality of distal video cameras at a plurality of distal locations.

19. The medical apparatus of claim 18, wherein the plurality of proximal video cameras comprises at least two stereo cameras and the at least two stereo cameras are rotated 180 degrees relative to each other.

20. The medical apparatus of claim 1, wherein the camera platform and the curved support of the proximal support frame comprise concentric rings.

21. The medical apparatus of claim 1, further comprising one or more bearings to provide the movement of the proximal video camera from one location on said proximal support frame to another location on said proximal support frame.

22. The medical apparatus of claim 1, wherein the proximal video camera comprises a prism configured to redirect the field-of-view of the proximal video camera.