Hermetically sealed endoscope
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.
1. An endoscope comprising:
a housing;
an image sensor sensitive to a set of wavelengths of electromagnetic radiation;
an inner protective window over the image sensor to protect the image sensor, and
a first optical component including a first lens;
wherein the first optical component is positioned at least partially within the housing;
wherein the inner protective window is transparent to the set of wavelengths of electromagnetic radiation,
wherein the inner protective window is positioned between the image sensor and the first optical component,
wherein the first optical component further comprises a tube and the first lens is positioned within the tube; and
wherein a coefficient of thermal expansion of the tube is substantially similar to a coefficient of thermal expansion of the housing.
2. The endoscope of claim 1 , wherein the first optical component is sealed off from the image sensor by the housing and the inner protective window.
3. The endoscope of claim 1 , further comprising
an outer window transparent to the set of electromagnetic wavelengths, wherein the first optical component is positioned between the inner protective window and the outer window.
4. The endoscope of claim 3 , wherein a first end of the housing is sealed by the outer window.
5. The endoscope of claim 3 , wherein the outer window comprises a sapphire window.
6. The endoscope of claim 1 , wherein the first optical component further comprises a second lens positioned within the tube.
7. The endoscope of claim 1 , wherein the image sensor comprises a stereo image sensor,
wherein the endoscope further comprises a second optical component,
wherein the inner protective window is positioned over the stereo image sensor and the second optical component, and
wherein the second optical component is attached to the inner protective window.
8. The endoscope of claim 7 , wherein the stereo image sensor comprises a first pixel array and a second pixel array,
wherein the first optical component focuses the electromagnetic radiation with the set of wavelengths onto the first pixel array, and
wherein the second optical component focuses the electromagnetic radiation with the set of wavelengths onto the second pixel array.
9. The endoscope of claim 8 , wherein an optical axis of the first optical component is not coaxial with a center axis of the first pixel array, and
wherein an optical axis of the second optical component is not coaxial with a center axis of the second pixel array.
10. The endoscope of claim 8 , wherein an optical axis of the first optical component is angled with respect to a center axis of the first pixel array, and
wherein an optical axis of the second optical component is angled with respect to a center axis of the second pixel array.
11. An endoscopic camera instrument comprising:
an interface base at a proximal end of the endoscopic camera instrument, the interface base configured to mount and dismount the endoscopic camera instrument with a robotic arm, the interface base including a first electrical connector to couple to a second electrical connector of the robotic arm;
a hollow shaft having a first end coupled to the interface base and a second end opposite the first end;
a joint having a first end coupled to the second end of the hollow shaft; and
a hermetically sealed camera module coupled to a second end of the joint opposite the first end of the joint, the hermetically sealed camera module including an image sensor having a first active pixel array to capture electromagnetic radiation as one or more images; and
an electro-optical transducer electrically coupled to the image sensor, the electro-optical transducer to convert an electrical form of the one or more images into an optical form of the one or more images for transmission along the hollow shaft to the proximal end of the endoscopic camera instrument.
12. The endoscopic camera instrument of claim 11 , further comprising:
a first optical fiber coupled to the electro-optical transducer, the first optical fiber to transmit the optical form of the one or more images along the hollow shaft to the proximal end of the endoscopic camera instrument.
13. The endoscopic camera instrument of claim 12 , wherein
the electro-optical transducer is a vertical cavity surface emitting laser (VCSEL).
14. A minimally invasive surgical camera module comprising:
a first hollow cylindrical housing having a first opening and a second opening opposite the first opening;
a base hermetically sealed to the first hollow cylindrical housing to close the first opening of the first hollow cylindrical housing;
a digital image sensor supported by the base and hermetically sealed within the first hollow cylindrical housing;
a first window hermetically sealed to the first hollow housing to close the second opening, wherein the first window is transparent to wavelengths of electromagnetic radiation captured by the digital image sensor;
a signal conditioning processor electrically coupled to and physically separated from the digital image sensor, the signal conditioning processor mounted to the base outside the first hollow cylindrical housing;
a second hollow cylindrical housing coaxial around the first hollow housing, the second hollow cylindrical 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, the plurality of optical fibers terminating at a distal end of the second hollow housing to direct electromagnetic radiation into a surgical site.
15. The minimally invasive surgical camera module of claim 14 , further comprising:
a vertical cavity surface emitting laser (VCSEL) mounted to the base outside the first hollow cylindrical housing, the VCSEL electrically coupled to the signal conditioning processor.
16. The minimally invasive surgical camera module of claim 14 , wherein
the base is a ceramic substrate.
17. An endoscope comprising:
a housing;
an image sensor sensitive to a set of wavelengths of electromagnetic radiation;
an inner protective window over the image sensor to protect the image sensor, wherein the inner protective window is transparent to the set of wavelengths of electromagnetic radiation; and
a first optical component positioned at least partially within the housing attached to and resting on the inner protective window, the first optical component including a first lens and a tube with the first lens positioned within the tube;
wherein the inner protective window is positioned between the image sensor and the first optical component.
18. The endoscope of claim 17 , wherein
the first optical component is attached to the inner protective window by at least one of glue, epoxy, and cement.
19. The endoscope of claim 17 , wherein
the first optical component is attached to the inner protective window by a heat-resistant glue.