Camera positioning system, method, and apparatus for capturing images during a medical procedure
In some embodiments, a visualization device for a robotic surgery apparatus can include a housing configured to be removably attached to a mounting interface of the apparatus and be positioned adjacent an insertion device of the apparatus. The housing can include first and second openings positioned on an exterior of the housing. The housing can include a substantially flexible camera tube with a first end attached to the housing and a second end including at least one camera. The second end can be inserted through the first opening in the housing, pass through interior of the housing, and exit the housing through the second opening in the housing. The second end can extend away from the housing toward a region of interest outside the housing or retract away from the region of interest and back toward the housing. The camera tube can form a loop around a portion of the housing.
1. A visualization device for a single port robotic surgery apparatus, the visualization device comprising:
a housing configured to be positioned adjacent an insertion device of the robotic surgery apparatus and be attached to a mounting interface of the robotic surgery apparatus, the housing comprising an interior portion and a plurality of openings, at least some of the plurality of openings positioned on an exterior surface of the housing;
a camera tube including a first end attached to the exterior surface of the housing and a second end comprising at least one camera, the second end configured to be inserted through a first opening of the plurality of openings in the housing, pass through the interior portion of the housing, extend outside the housing through a second opening of the plurality of openings in the housing, and enter a channel in the insertion device, the first end attached to the exterior surface of the housing at a location different from locations of the first and second openings, the insertion of the second end into the first opening causing the camera tube to form a loop between the first end and the first opening;
a drive opening in the housing configured to receive a plurality of rollers configured to abut a portion of the camera tube that passes through the drive opening when the second end is inserted through the first opening, the plurality of rollers configured to move the portion of the camera tube through the drive opening and cause the second end of the camera tube to extend away from the housing through the second opening or retract back toward or inside the housing when the second end is inserted through the first opening.
2. The device of claim 1 , wherein:
the second end of the camera tube is configured to extend away from the housing through the second opening in response to rotation of the plurality of rollers in a first direction; and
the second end of the camera tube is configured to retract back toward or inside the housing in response to rotation of the plurality of rollers in a second direction opposite the first direction.
3. The device of claim 2 , further comprising a plurality of openings positioned on the exterior of the housing and configured to removably receive a plurality of supporting pins attached to the mounting interface of the robotic surgery apparatus.
4. The device of claim 2 , wherein the loop of the camera tube is configured to change in diameter in response to rotation of the plurality of rollers.
5. The device of claim 4 , wherein the diameter of the loop is configured to decrease in response to rotation of the plurality of rollers in the first direction and the diameter of the loop is configured to increase in response to rotation of the plurality of rollers in the second direction.
6. The device of claim 1 , wherein:
the camera tube is substantially flexible;
the second end comprises an articulating portion terminating in a face comprising the at least one camera;
the articulating portion is configured to cause at least one of a pan or tilt of the face comprising the at least one camera; and
the articulating portion is substantially rigid to generally maintain orientation of the face comprising the at least one camera in a plane parallel to a plane of the channel of the insertion device when the articulating portion of the second end is passed through and exits the channel.
7. The device of claim 6 , further comprising at least one actuator positioned on the exterior of the housing and configured to be actuated by at least one motor of the robotic surgery apparatus when the housing is attached to the mounting interface of the robotic surgery apparatus, the at least one actuator configured to change a shape of the articulating portion to cause at least one of the pan or tilt of the face comprising the at least one camera.
8. The device of claim 7 , wherein change of the shape comprises forming at least one bend in the articulating portion.
9. The device of claim 7 , wherein:
the camera tube encloses a plurality of links configured to be pushed or pulled to change the shape of the articulating portion to cause at least one of the pan or tilt of the face comprising the at least one camera; and
actuation of the at least one actuator causes at least one cable of the plurality of cables to be pushed or pulled.
10. The device of claim 1 , wherein the at least one camera comprises two cameras configured to provide a stereoscopic image of a region of interest in the body cavity, and the device further comprises a light source configured to illuminate the region of interest.
11. The device of claim 1 , wherein the plurality of rollers include surfaces with a friction coefficient that allows the plurality of rollers to slip along the portion of the camera tube that passes through the drive opening of the housing to prevent movement of the portion of the camera tube.
12. The device of claim 1 , wherein the plurality of rollers provide a sterile barrier between a sterile camera tube and non-sterile mounting interface of the robotic surgery apparatus when the housing is attached to the mounting interface of the robotic surgery apparatus.
13. A kit comprising the visualization device of claim 12 and the plurality of rollers, wherein the housing, camera tube, and the plurality of rollers are sterile.