HERMETICALLY SEALED DISTAL SENSOR ENDOSCOPE

• US 20100261961A1
• Filed: 05/15/2010
• Published: 10/14/2010
• Est. Priority Date: 12/21/2006
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Scott, David D., Herzlinger, Peter M., Brichard, Dominique, Shafer, David C.
• Granted Patent: US 8,556,807 B2
• Time in Patent Office: Days
• US Class Current: 600/111
• CPC Class Codes: A61B 1/00 Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes examination of body cavities or body tracts using ultrasonic, sonic or infrasonic waves A61B8/12; endoscopic instruments for taking cell samples or for biopsy A61B10/04; for surgical purposes A61B17/00; endoscopic surgical cutting instruments A61B17/32; surgical instruments using a laser beam being directed along or through a flexible conduit A61B18/22; Illuminating arrangements therefor for the eyes A61B3/00
• CPC Class Codes: A61B 1/00009 of image signals during a use of endoscope
• CPC Class Codes: A61B 1/00096 Optical elements
• CPC Class Codes: A61B 1/00105 characterised by modular construction
• CPC Class Codes: A61B 1/0011 Manufacturing of endoscope parts
• CPC Class Codes: A61B 1/00114 Electrical cables in or with an endoscope
• CPC Class Codes: A61B 1/00124 electrical, e.g. electrical plug-and-socket connection
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/00165 with light-conductive means, e.g. fibre optics A61B1/07 takes precedence
• CPC Class Codes: A61B 1/00167 Details of optical fibre bundles, e.g. shape or fibre distribution
• 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 1/06 with illuminating arrangements
• CPC Class Codes: A61B 1/0607 for annular illumination
• CPC Class Codes: A61B 1/0684 using light emitting diodes [LED]
• CPC Class Codes: A61B 1/07 using light-conductive means, e.g. optical fibres
• CPC Class Codes: A61B 1/313 for introducing through surgical openings, e.g. laparoscopes
• CPC Class Codes: A61B 1/3132 for laparoscopy
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/50 : Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: G02B 13/00 : Optical objectives specially designed for the purposes specified below with variable magnification in general G02B15/00
• CPC Class Codes: G02B 13/0015 : characterised by the lens design
• CPC Class Codes: G02B 23/24 : Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
• CPC Class Codes: G02B 23/2415 : Stereoscopic endoscopes
• CPC Class Codes: G02B 23/2476 : Non-optical details, e.g. housings, mountings, supports
• CPC Class Codes: H04N 13/20 : Image signal generators
• CPC Class Codes: H04N 13/204 : using stereoscopic image cameras stereoscopic photography G03B35/00
• CPC Class Codes: H04N 23/00 : Cameras or camera modules comprising electronic image sensors; Control thereof
• CPC Class Codes: H04N 23/55 : Optical parts specially adapted for electronic image sensors; Mounting thereof
• CPC Class Codes: H04N 23/555 : for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes

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.

Claims

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.

2. The minimally invasive surgical camera module of claim 1, wherein

the stereo camera includes a stereo analog imaging sensor to generate stereo analog image signals;

and

the minimally invasive surgical camera module further includes

a signal conditioning processor coupled to the base in communication with the stereo analog imaging sensor, the signal conditioning processor having at least one analog to digital converter to receive the stereo analog image signals and generate stereo digital image signals.

3. The minimally invasive surgical camera module of claim 2, wherein the signal conditioning processor is coupled to the base outside the first hollow housing.

4. The minimally invasive surgical camera module of claim 2, wherein

the signal conditioning processor is coupled to the base between the stereo analog imaging sensor and the base in a stacked configuration and hermetically sealed within the first hollow housing.

5. The minimally invasive surgical camera module of claim 2, further comprising:

a first lens barrel and a second lens barrel mounted within the first hollow housing in an off axis alignment with the optical axes of the stereo analog imaging sensor, each of the first lens barrel and the second lens barrel including a plurality of lenses to focus electromagnetic radiation received through the first window onto portions of the stereo analog imaging sensor.

6. The minimally invasive surgical camera module of claim 1, wherein

the first window is a sapphire window;

and

the second hollow housing is a stainless steel housing.

7. The minimally invasive surgical camera module of claim 6, wherein

the base is a ceramic substrate;

and

the first hollow housing is a nickel-cobalt ferrous alloy housing.

8. The minimally invasive surgical camera module of claim 1, wherein

the first hollow housing is a first hollow cylinder, and

the second hollow housing is a second hollow cylinder configured to couple to a joint of a robotic surgical instrument.

9. The minimally invasive surgical camera module of claim 8, wherein

the first and second hollow cylinders are hollow oval cylinders.

10. The minimally invasive surgical camera module of claim 8, wherein

the first hollow cylinder has a polygonal cross section, and

the second hollow cylinder has an oval cross section.

11. The minimally invasive surgical camera module of claim 8, wherein

the first and second hollow cylinders are hollow rectangular cylinders.

12. The minimally invasive surgical camera module of claim 5, wherein

the first housing includes

a lower hollow cylinder portion having a first opening hermetically sealed by the base and a second opening opposite the first opening,

a second window mounted in the second opening of the lower hollow cylinder portion over the stereo camera, and

an upper hollow cylinder portion having a first opening hermetically sealed to the second opening of the lower hollow cylinder portion and a second opening opposite the first opening, wherein the second opening of the upper hollow cylinder portion is hermetically sealed by the first window;

the second hollow housing is a second hollow cylinder configured to couple to a joint of a robotic surgical instrument; and

the minimally invasive surgical camera module further includes

a cylindrical insert between the first housing and the second housing, the cylindrical insert having a plurality of openings each to receive bundles of the plurality of optical fibers to distribute light out from the distal end of the second hollow housing.

13. The minimally invasive surgical camera module of claim 1, further comprising:

nitrogen gas sealed within the first hollow housing between the base and the first window to avoid moisture and oxidation of components therein.

14. A method of forming a minimally invasive surgical camera module, the method comprising:

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.

15. The method of claim 14, further comprising:

grounding the first hollow cylindrical housing; and

insulating the second hollow cylindrical housing from the first hollow cylindrical housing.

16. The method of claim 15, wherein

the arranging of the plurality of optical fibers includes

molding the first portion of the optical fibers into a shape of a gap between the first hollow cylindrical housing and the second hollow cylindrical housing, and

adhering the first portion of the optical fibers with a dielectric epoxy to the first hollow cylindrical housing and the second hollow cylindrical housing in the gap.

17. The method of claim 14, wherein

the first window is a sapphire window, and

the hermetically sealing of the first window includes soldering gold between the sapphire window and the first hollow cylindrical housing.

18. The method of claim 17, wherein

the base is a ceramic base, and

the hermetically sealing of the first opening includes welding the ceramic base to the first hollow cylindrical housing.

19. The method of claim 15, further comprising:

prior to guiding the second opening, sealing a first window into the second opening of the lower hollow cylindrical housing,

prior to coaxially mounting the second hollow cylindrical housing, inserting a cylindrical insert into the second hollow cylindrical housing, the cylindrical insert having a center opening to receive the upper hollow cylindrical housing portion and a plurality of radial spaced apart openings each to receive a group of the plurality of the optical fibers to distribute light around the upper hollow cylindrical housing portion,

routing the optical fibers and camera cables from the camera through a shaft of a robotic surgical instrument, and

laser welding the second hollow cylindrical housing to an end of the shaft of the robotic surgical instrument.

20. The method of claim 14, further comprising:

introducing a nitrogen gas into the chamber of the first hollow cylindrical housing.

21. An endoscopic camera instrument comprising:

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.

22. The endoscopic camera instrument of claim 21, wherein

the first hollow cylindrical housing is coupled to ground, and

the second hollow cylindrical housing electrically floats.

23. The endoscopic camera instrument of claim 21, wherein the camera module further includes

a signal conditioning processor coupled to the ceramic substrate under the sensor in a stacked configuration within the first hollow cylindrical housing to conserve space.

24. The endoscopic camera instrument of claim 23, wherein the camera module further includes

a crystal oscillator coupled to one or more first pads on the first side of the ceramic substrate outside the first hollow cylindrical housing and separated from the sensor to avoid noise.

25. The endoscopic camera instrument of claim 21, wherein the camera module further includes

a plurality of electrical cables routed through the hollow shaft, the plurality of electrical cables having a first end coupled to a respectively plurality of the first pads of the ceramic substrate and a second end coupled to a respective plurality of the contacts of the electrical connector.

26. The endoscopic camera instrument of claim 25, wherein the camera module further includes

a plurality of optical fibers routed through the shaft, the plurality of optical fibers having a first end arranged around between the first and second hollow cylindrical housings and a second end configured to couple to a light generator;

and

a dielectric epoxy filing in gaps between the first and second hollow cylindrical housings and the plurality of optical fibers.

27. The endoscopic camera instrument of claim 21, wherein the at least one lens barrel includes

a first lens barrel with a first lens assembly mounted over the sensor with a first optical axis extending through the first window and into a first active pixel array of the sensor.

28. The endoscopic camera instrument of claim 27, wherein the at least one lens barrel further includes

a second lens barrel with a second lens assembly spaced apart from the first lens barrel mounted over the sensor with a second optical axis extending through the first window and into a second active pixel array of the sensor;

and

wherein a first center of the first active pixel array is offset from the first optical axis and a second center of the second active pixel array is offset from the second optical axis.

29. The endoscopic camera instrument of claim 21, wherein the at least one lens barrel includes

a first lens assembly and a second lens assembly in parallel and a prism mounted over the sensor with an optical axes of the first lens assembly and a second lens assembly extending through the first window and into the prism.

30. The endoscopic camera instrument of claim 21, further comprising:

a second window sealed into the second open end of the lower inner hollow cylindrical housing portion, wherein the second window is transparent to wavelengths of electromagnetic radiation captured by the sensor; and

wherein an end of the at least one lens barrel is coupled to a top surface of the second window.

31. The endoscopic camera instrument of claim 26, further comprising:

a cylindrical insert between the upper inner hollow cylindrical housing portion and the second hollow cylindrical housing, the cylindrical insert having a plurality of openings each to receive groupings of the plurality of optical fibers to distribute light out ends of the optical fibers around the camera module.