Surgical trocars and image acquisition method using the same
Surgical trocars, and image acquisition method using the same, include a body having a passage configured to receive at least one surgical instrument, and at least one camera movably coupled to an outer wall of the body.
1. A surgical trocar, comprising:
a body having a passage configured to receive at least one surgical instrument, the body being a cylinder that includes an outer wall having a groove therein along a circumference of the outer wall;
at least one camera movably coupled to the outer wall of the body such that the at least one camera is configured to selectively extend outwardly from the groove based on rotation of a first joint within the groove, the first joint having a rotational axis parallel to a longitudinal axis of the body; and
a first link having an arched shape corresponding to the circumference of the outer wall, the first link having a first end and a second end, a length of the first link between the first end and the second end being equal to a length of the groove, and the first end connected to the at least one camera and the second end connected to the first joint within the groove such that the first link is configured to extend from a closed state to an open state by rotating the first joint about the rotational axis parallel to the longitudinal axis of the body.
2. The surgical trocar according to claim 1 ,
wherein the first link is configured to move as the first joint is rotated.
3. The surgical trocar according to claim 2 , wherein the second end of the first link includes,
a first coupling portion connected to the outer wall of the body via the first joint, and
a second coupling portion separated from the first coupling portion.
4. The surgical trocar according to claim 3 , further comprising:
a second link having a first end connected to the second coupling portion of the first link, and a second end protruding outward from the body in a longitudinal direction of the passage;
a third link having a first end connected to the outer wall of the body, and a second end connected to the second link;
a second joint connecting the first end of the second link and the second coupling portion provided at the second end of the first link to each other;
a third joint connecting the first end of the third link and the outer wall of the body to each other; and
a fourth joint connecting the second end of the third link and the second link to each other.
5. The surgical trocar according to claim 4 , further comprising:
a groove in the outer wall of the body, the groove extending in a longitudinal direction of the passage,
wherein the second end of the first link, the first end of the second link, and the third link are inserted into the groove.
6. The surgical trocar according to claim 4 , wherein the second end of the first link, the first end of the second link, and the third link are configured not to extend beyond the outer wall of the body when inserting the surgical trocar in an incision of a patient.
7. The surgical trocar according to claim 4 , wherein the second end of the first link, the first end of the second link, and the third link are configured to be planar with the outer wall of the body when inserting the surgical trocar in an incision of a patient.
8. The surgical trocar according to claim 4 , wherein the second coupling portion of the first link connected to the first end of the second link is configured to move in a pulling direction of the second link if the second end of the outwardly protruding second link is pulled, and
the first link is configured to move as the first joint is rotated via movement of the second coupling portion.
9. The surgical trocar according to claim 2 , further comprising:
wherein the first link is configured to be inserted into the groove.
10. The surgical trocar according to claim 9 , further comprising:
a drive unit provided at the first joint to rotate the first joint.
11. The surgical trocar according to claim 10 , wherein the first link and the at least one camera are configured to be inserted into the groove or protrude outward according to rotation of the first joint.
12. The surgical trocar according to claim 10 , wherein the drive unit includes a motor.
13. The surgical trocar of claim 2 , wherein the first link is configured to be planar with the outer wall of the body when inserting the surgical trocar in an incision of a patient.
14. The surgical trocar of claim 2 , wherein the first link is configured not to extend beyond the outer wall of the body when inserting the surgical trocar in an incision of a patient.