Stereo camera for hermetically sealed endoscope

• US 9,271,633 B2
• Filed: 03/18/2015
• Issued: 03/01/2016
• 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., Shafer, David C., Brichard, Dominique, Herzlinger, Peter M.
• Primary Examiner(s): Laballe, Clayton E
• Assistant Examiner(s): BUTLER, KEVIN C
• Application Number:
  US14/662,083
• Publication Number:
  US 20150190037A1
• Time in Patent Office: 349 Days
• Field of Search: 600/102
• US Class Current: 1/1
• 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 stereo endoscope comprising:

a stereo image sensor including a left pixel array and a right pixel array, each of the left pixel array and the right pixel array are sensitive to a set of wavelengths of electromagnetic radiation;

a left optical component to focus the electromagnetic radiation onto the left pixel array; and

a right optical component to focus the electromagnetic radiation onto the right pixel array;

wherein the left pixel array and the right pixel array are offset from a center optical axis of the stereo endoscope to provide stereo image convergence by having

an optical axis of the left optical component not being coaxial with a center axis of the left pixel array, and

an optical axis of the right optical component not being coaxial with a center axis of the right pixel array.

2. The stereo endoscope of claim 1, wherein

the left optical component includes a first lens;

and

the right optical component includes a second lens.

3. The stereo endoscope of claim 1, further comprising:

an inner protective window positioned between the stereo image sensor and the left and right optical components, wherein the inner protective window is transparent to the set of wavelengths of electromagnetic radiation.

4. The stereo endoscope of claim 3, further comprising

a housing receiving the stereo image sensor, the inner protective window, and at least a portion of the left and right optical components.

5. The stereo endoscope of claim 3, wherein

the left optical component further comprises a first lens barrel and a third lens, wherein the first and third lenses are positioned within the first lens barrel;

and

the right optical component further comprises a second lens barrel and a fourth lens, wherein the second and fourth lenses are positioned within the second lens barrel.

6. The stereo endoscope of claim 4, further comprising

an outer window transparent to the set of electromagnetic wavelengths and sealing a first end of the housing,

wherein the left and right optical components are positioned between the inner protective window and the outer window.

7. The stereo endoscope of claim 6, wherein

the outer window comprises a sapphire window.

8. A stereo endoscope comprising:

a stereo image sensor including a left pixel array and a right pixel array, each of the left pixel array and the right pixel array are sensitive to a set of wavelengths of electromagnetic radiation;

a left optical component to focus the electromagnetic radiation onto the left pixel array; and

a right optical component to focus the electromagnetic radiation onto the right pixel array;

wherein the left pixel array and the right pixel array are offset from a center optical axis of the stereo endoscope to provide stereo image convergence by having

an optical axis of the left optical component angled with respect to a center axis of the left pixel array, and

an optical axis of the right optical component angled with respect to a center axis of the right pixel array.

9. A stereo endoscope comprising:

a stereo image sensor including a left pixel array and a right pixel array, each of the left pixel array and the right pixel array are sensitive to a set of wavelengths of electromagnetic radiation;

a left optical component to focus the electromagnetic radiation onto the left pixel array; and

a right optical component to focus the electromagnetic radiation onto the right pixel array;

the stereo image sensor further includes an analog processing circuit coupled to and between the left pixel array and the right pixel array, the analog processing circuit to read out pixels from horizontal rows in each of the left pixel array and the right pixel array; and

wherein the stereo endoscope further comprises

a signal conditioning processor coupled to the analog processing circuit, the signal conditioning processor including

at least one analog to digital converter to convert analog image signals from the stereo image sensors into digital image signals, and

a signal processor coupled to the at least one analog to digital converter to perform digital signal processing on the digital image signals and output digital image data for display on a display device.

10. A stereo endoscope comprising:

a stereo image sensor sensitive to a set of wavelengths of electromagnetic radiation;

an inner protective window over the stereo image sensor to protect the stereo image sensor;

a first optical component attached to a top surface of the inner protective window, the first optical component including a first lens; and

a second optical component attached to the top surface of the inner protective window adjacent the first optical component, the second optical component including a second lens;

wherein the inner protective window is transparent to the set of wavelengths of electromagnetic radiation,

wherein the inner protective window is positioned between the stereo image sensor and the first and second optical components; and

wherein the first and second optical components are attached to the inner protective window by at least one of glue, epoxy, and cement.

11. The stereo endoscope of claim 10, wherein

the first and second optical components are attached to the inner protective window by a heat-resistant glue.

12. The stereo endoscope of claim 10, further comprising

a housing,

wherein the first and second optical components are positioned at least partially within the housing.

13. The stereo endoscope of claim 12, wherein

the first and second optical components are sealed off from the image sensor by the housing and the inner protective window.

14. The stereo endoscope of claim 12, further comprising

an outer window transparent to the set of electromagnetic wavelengths,

wherein the first and second optical components are positioned between the inner protective window and the outer window.

15. The stereo endoscope of claim 14, wherein

a first end of the housing is sealed by the outer window.

16. The stereo endoscope of claim 15, wherein

the outer window comprises a sapphire window.

17. The stereo endoscope of claim 12, wherein

the first optical component further comprises a first tube, and the first lens is positioned within the first tube, and

the second optical component further comprises a second tube, and the second lens is positioned within the second tube.

18. The stereo endoscope of claim 17, wherein

the first optical component further comprises

a third lens positioned within the first tube, and

a fourth lens positioned within the second tube.

19. The stereo endoscope of claim 17, wherein

a coefficient of thermal expansion of the first and second tubes are substantially similar to a coefficient of thermal expansion of the housing.

20. The stereo endoscope of claim 10, wherein

the stereo image sensor comprises a first pixel array and a second pixel array,

the first optical component focuses the electromagnetic radiation with the set of wavelengths onto the first pixel array, and

the second optical component focuses the electromagnetic radiation with the set of wavelengths onto the second pixel array.

21. The stereo endoscope of claim 20, wherein

an optical axis of the first optical component is not coaxial with a center axis of the first pixel array, and

an optical axis of the second optical component is not coaxial with a center axis of the second pixel array.

22. The stereo endoscope of claim 20, wherein

an optical axis of the first optical component is angled with respect to a center axis of the first pixel array, and

an optical axis of the second optical component is angled with respect to a center axis of the second pixel array.

23. A stereo endoscope comprising:

a stereo image sensor sensitive to a set of wavelengths of electromagnetic radiation;

an inner protective window over the stereo image sensor to protect the stereo image sensor;

a first lens barrel having an end attached to a top surface of the inner protective window, the first lens barrel including a first lens; and

a second lens barrel attached to the top surface of the inner protective window adjacent the first lens barrel, the second lens barrel including a second lens;

wherein the inner protective window is transparent to the set of wavelengths of electromagnetic radiation,

wherein the inner protective window is positioned between the stereo image sensor and the first and second lens barrels; and

wherein the first and second optical components are attached to the inner protective window by at least one of glue, epoxy, and cement.