U.S. patent application number 10/144426 was filed with the patent office on 2002-09-12 for imaging system and components thereof.
Invention is credited to Thompson, Robert Lee.
Application Number | 20020128538 10/144426 |
Document ID | / |
Family ID | 23079758 |
Filed Date | 2002-09-12 |
United States Patent
Application |
20020128538 |
Kind Code |
A1 |
Thompson, Robert Lee |
September 12, 2002 |
Imaging system and components thereof
Abstract
In one embodiment, a camera includes an image sensor, a sheath,
and a housing. A first end of the sheath is closed to form a cavity
to accommodate the image sensor, and the housing is adapted to mate
with a second end of the sheath. One of the housing and the second
end of the sheath includes at least one tab, and the other of the
housing and the second end of the sheath includes at least one
slot, the at least one tab being adapted to mate with the at least
one slot when the housing is mated with the second end of the
sheath to inhibit the second end of the sheath from rotating with
respect to the housing. In another embodiment, a camera includes a
sheath, an image sensor, and a support. The support, which is at
least partially disposed within the sheath, supports the image
sensor within the sheath such that the image sensor is rotatable
about at least two axes of rotation with respect to the sheath
through a range of orientations, wherein an imaging axis of the
image sensor is oriented normal to an inner surface of the sheath
throughout the image sensor's range of orientations. In another
embodiment, a camera includes a sheath, an image sensor, and at
least one light. The image sensor and the at least one light are
disposed within the sheath, and the at least one light is adapted
to generate sufficient heat to prevent condensation from forming on
the sheath when the sheath is inserted into a body of a living
patient. In addition, an actuation module for use with a camera, a
camera module for use in a camera, and a novel bearing ring
assembly are disclosed.
Inventors: |
Thompson, Robert Lee;
(Rogers, AK) |
Correspondence
Address: |
LUEDEKA, NEELY & GRAHAM, P.C.
P O BOX 1871
KNOXVILLE
TN
37901
US
|
Family ID: |
23079758 |
Appl. No.: |
10/144426 |
Filed: |
May 13, 2002 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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10144426 |
May 13, 2002 |
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09282021 |
Mar 29, 1999 |
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6413209 |
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09282021 |
Mar 29, 1999 |
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09065116 |
Apr 23, 1998 |
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6007484 |
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09065116 |
Apr 23, 1998 |
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08937238 |
Sep 16, 1997 |
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5762603 |
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08937238 |
Sep 16, 1997 |
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08704044 |
Aug 28, 1996 |
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5773787 |
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60003802 |
Sep 15, 1995 |
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Current U.S.
Class: |
600/121 ;
600/109; 600/179 |
Current CPC
Class: |
A61B 1/00042 20220201;
A61B 1/00039 20130101; A61B 1/0627 20220201; A61B 1/0615 20130101;
A61B 1/05 20130101; A61B 1/127 20130101; A61B 1/00183 20130101;
A61B 1/00096 20130101; A61B 1/045 20130101; A61B 1/0625 20220201;
A61B 1/00142 20130101; A61B 1/00188 20130101 |
Class at
Publication: |
600/121 ;
600/109; 600/179 |
International
Class: |
A61B 001/04 |
Claims
What is claimed is:
1. A camera, comprising: an image sensor; a sheath having first and
second ends, the first end of the sheath being closed to form a
cavity to accommodate the image sensor; and a housing adapted to
mate with the second end of the sheath; wherein one of the housing
and the second end of the sheath includes at least one tab, and the
other of the housing and the second end of the sheath includes at
least one slot, the at least one tab being adapted to mate with the
at least one slot when the housing is mated with the second end of
the sheath to inhibit the second end of the sheath from rotating
with respect to the housing.
2. The camera of claim 1, wherein: the sheath includes a plurality
of gaps defining a plurality of fingers adapted to separate to
accommodate a portion of the housing to attach the sheath to the
housing; the at least one slot is one of the plurality of gaps; and
the at least one tab is disposed on the housing.
3. The camera of claim 1, wherein the at least one tab is included
on the sheath and the at least one slot is included on the
housing.
4. The camera of claim 1, wherein the sheath is elongated.
5. The camera of claim 4, wherein the image sensor is disposed
adjacent the first end of the sheath.
6. The camera of claim 5, wherein the sheath is rigid.
7. The camera of claim 1, wherein the sheath is rigid.
8. The camera of claim 1, further including at least one actuator,
disposed within the housing, mechanically coupled to the image
sensor to adjust a position of an imaging axis of the image
sensor.
9. The camera of claim 8, wherein the imaging axis of the image
sensor passes through different portions of the sheath when the
position of the imaging axis is adjusted by the at least one
actuator.
10. A camera, comprising: a sheath having an inner surface; an
image sensor having an imaging axis; a support, at least partially
disposed within the sheath, that supports the image sensor within
the sheath such that the image sensor is rotatable about at least
two axes of rotation with respect to the sheath through a range of
orientations, wherein the imaging axis is oriented normal to the
inner surface of the sheath throughout the image sensor's range of
orientations.
11. The camera of claim 10, wherein the sheath is elongated.
12. The camera of claim 11, wherein the image sensor is disposed
adjacent a distal end of the sheath.
13. The camera of claim 12, wherein the sheath is rigid.
14. The camera of claim 10, wherein the sheath is rigid.
15. The camera of claim 10, wherein the support is arranged to
rotate the image sensor through at least ninety degrees about each
of its at least two axes of rotation.
16. The camera of claim 10, further including a housing including
at least one actuator, the housing being attached to the sheath and
the at least one actuator being mechanically coupled to the image
sensor to rotate the image sensor about at least one of its at
least two axes of rotation.
17. The camera of claim 16, wherein the at least one actuator
includes a pair of actuators, each of the pair of actuators being
mechanically coupled to the image sensor to rotate the image sensor
about a respective one of its at least two axes of rotation.
18. The camera of claim 17, wherein the support has a longitudinal
axis that extends along a length of the sheath, and wherein one of
the at least two actuators is arranged to rotate the support about
its longitudinal axis.
19. The camera of claim 16, wherein the imaging axis of the image
sensor passes through different portions of the sheath when the
position of the imaging axis is adjusted by the at least one
actuator.
20. The camera of claim 10, wherein the support has a longitudinal
axis that extends along a length of the sheath, and wherein the
support is rotatable within the sheath about its longitudinal
axis.
21. An actuation module for use with a camera including an image
sensor that is rotatable about at least two axes of rotation, the
actuation module comprising: a module base adapted to be removably
mounted in the camera; and a pair of actuators mounted to the base
so that the pair of actuators can be removed from and inserted into
the camera as a single unit, each of the pair of actuators being
adapted to rotate the image sensor about a respective one of the at
least two axes of rotation.
22. The actuation module of claim 21, in combination with the
camera.
23. The actuation module of claim 22, wherein the camera includes
an elongated sheath in which the image sensor is disposed such that
an imaging axis of the image sensor passes through a distal end of
the elongated sheath.
24. The actuation module of claim 23, wherein the camera includes
an upper housing attached to a proximal end of the elongated
sheath, and wherein the module base is adapted to be removably
mounted in the upper housing.
25. The combination of claim 22, further including a camera module
for use in the camera, the camera module comprising: a camera
module base adapted to be removably mounted in the camera; the
image sensor, the image sensor being mounted to the camera module
base; a cable mounted to the camera module base and coupled to the
image sensor; and a signal conditioning circuit mounted to the
camera module base and coupled to the cable to receive an
electronic signal produced by the image sensor via the cable;
whereby the image sensor, the cable, the signal conditioning
circuit, and the camera module base are removable from and
insertable into the camera as a single unit.
26. A camera module for use in a camera, comprising: a module base
adapted to be removably mounted in the camera; an image sensor
mounted to the base; a cable mounted and coupled to the image
sensor; and a signal conditioning circuit, mounted to the base, and
coupled to the cable to receive, via the cable, an electronic
signal produced by the image sensor; whereby the image sensor, the
cable, the signal conditioning circuit, and the base are removable
from and insertable into the camera as a single unit.
27. The camera module of claim 26, further including at least one
refractive lens mounted to the module base and arranged to focus an
image onto the image sensor.
28. The camera module of claim 26, further including at least one
light mounted to the module base and arranged to illuminate a
viewing area to be imaged.
29. The camera module of claim 28, wherein the at least one light
includes at least one diffused light.
30. The camera module of claim 28, wherein the at least one light
is a focused light which is configured and arranged to be focused
primarily onto the viewing area.
31. The camera module of claim 26, in combination with a sheath of
the camera, wherein the camera module is adapted to be removably
mounted in the sheath such that, when the camera module is mounted
in the sheath, an imaging axis of the image sensor passes through
the sheath.
32. A camera, comprising: a sheath; an image sensor disposed within
the sheath; and at least one light disposed within the sheath, the
at least one light being adapted to generate sufficient heat to
prevent condensation from forming on the sheath when the sheath is
inserted into a body of a living patient.
33. The camera as claimed in claim 32, wherein the at least one
light is adapted to generate sufficient heat to cause a temperature
within the sheath to be greater than thirty-seven degrees Celsius
when the sheath is inserted into the body of the patient.
34. The camera as claimed in claim 33, wherein the at least one
light is adapted to generate heat such that the temperature within
the sheath does not exceed forty-five degrees Celsius when the
sheath is inserted into the body of the patient.
35. The camera as claimed in claim 34, wherein the sheath includes
a distal end and a proximal end, and wherein the at least one light
is adapted to generate heat such that the temperature within the
sheath does not exceed forty-one degrees Celsius at the proximal
end of the sheath when the sheath is inserted into the body of the
patient.
36. A bearing ring assembly, comprising: a first ring; a second
ring arranged concentrically with the first ring; and a plurality
of ball bearings disposed between the first and second rings such
that the first ring is permitted to rotate with respect to the
second ring; wherein the first ring includes at least one first
mating feature adapted to engage a first structure so that the at
first ring is inhibited from rotating with respect to the first
structure.
37. The bearing ring assembly of claim 36, wherein: the first and
second rings are arranged in a common plane; and the at least one
first mating feature extends from the first ring in a direction
transverse to the common plane.
38. The bearing ring assembly of claim 37, wherein the at least one
first mating feature includes a pair of tabs disposed on opposite
sides of the first ring.
39. The bearing ring assembly of claim 36, wherein: the first and
second rings are arranged in a common plane; and the at least one
first mating feature extends from the first ring in a direction
perpendicular to the common plane.
40. The bearing ring assembly of claim 38, wherein the at least one
first mating feature includes a pair of tabs disposed on opposite
sides of the first ring.
41. The bearing ring assembly of claim 36, wherein the second ring
includes at least one second mating feature adapted to engage a
second structure so that the second ring is inhibited from rotating
with respect to the second structure.
42. The bearing ring assembly of claim 41, wherein: the first and
second rings are arranged in a common plane; the at least one first
mating feature extends from the first ring in a direction
transverse to the common plane; and the at least one second mating
feature extends from the second ring in a direction transverse to
the common plane.
43. The bearing ring assembly of claim 42, wherein: the at least
one first mating feature includes a first pair of tabs disposed on
opposite sides of the first ring; and the at least one second
mating feature includes a second pair of tabs disposed on opposite
sides of the second ring.
44. The bearing ring assembly of claim 41, wherein: the first and
second rings are arranged in a common plane; the at least one first
mating feature extends from the first ring in a direction
perpendicular to the common plane; and the at least one second
mating feature extends from the second ring in a direction
perpendicular to the common plane.
45. The bearing ring assembly of claim 44, wherein: the at least
one first mating feature includes a first pair of tabs disposed on
opposite sides of the first ring; and the at least one second
mating feature includes a second pair of tabs disposed on opposite
sides of the second ring.
46. The bearing ring assembly of claim 45, wherein the first pair
of tabs extends from the first ring in a same direction that the
second pair of tabs extends from the second ring.
47. The bearing ring assembly of claim 44, wherein the at least one
first mating feature extends from the first ring in a same
direction that the at least one second mating feature extends from
the second ring.
48. The bearing ring assembly of claim 41, in combination with the
first and second structures, wherein the first structure is
rotatable with respect to the second structure.
49. The combination of claim 48, wherein: the first structure
comprises a housing in which the first and second rings are
disposed; and the second structure is at least partially disposed
within the housing.
50. The combination of claim 49, wherein the second structure
includes an actuator adapted to cause the second structure to
rotate within the housing.
51. The combination of claim 48, wherein the second structure
includes an actuator adapted to cause the second structure to
rotate with respect to the first structure.
52. The bearing ring assembly of claim 36, in combination with the
first structure and a second structure, wherein the first structure
is rotatable with respect to the second structure.
Description
[0001] This application is a continuation-in-part of application
Ser. No. 09/065,116, filed Apr. 23, 1998, currently pending, which
is a continuation of application Ser. No. 08/937,238, filed Sep.
16, 1997, now U.S. Pat. No. 5,762,603, which is a continuation of
application Ser. No. 08/704,044, filed Aug. 30, 1996, now
abandoned, which claims the benefit of provisional application
serial No. 60/003,802, filed Sep. 15, 1995.
BACKGROUND OF THE INVENTION
[0002] 1. Field of the Invention
[0003] The present invention is directed to the field of optical
imaging.
[0004] 2. Discussion of Related Art
[0005] Optical imaging systems are used in a wide variety of
applications. For example, optical imaging systems are used for
surveillance and/or security in residential, commercial, and
military settings. In the medical field, endoscopic optical imaging
systems can be used for performing surgical and diagnostic
procedures inside the body. Optical imaging systems can also be
used in conventional photographic applications, such as still
photography or video recording.
[0006] In a conventional optical imaging system, the portion of the
imaging system that receives light from a target being viewed by
the system is physically disposed next to other portions of the
imaging system that store, process, or display the image of the
target. For example, in a conventional surveillance/security
system, a lens, a charge coupled device (CCD) camera, and other
electronic components (such as an amplifier, an image processor,
etc.) are all disposed within the same camera housing. Other
portions of the imaging system (e.g., image storage and/or display)
may also be disposed in the camera housing, or may be disposed in a
remote location that is connected to the camera housing via cables.
Because much of the optical imaging system is disposed within the
camera housing, the camera housing is relatively large, heavy, and
obtrusive.
[0007] In the medical field, due to the small size requirements
imposed by invasive surgical and diagnostic procedures, most
endoscopic optical imaging systems include an assembly of optical
fibers and a lens that is inserted into the patient. The assembly
of optical fibers and the lens relay light received from the target
to the rest of the system (e.g., a CCD camera, amplifiers, an image
processor, an image storage device, a display, etc.) located
outside of the patient. Although this arrangement permits the
portion of the optical imaging system that is inserted into the
patient to be quite small, such optical fiber-based imaging systems
are expensive to purchase and maintain.
SUMMARY OF INVENTION
[0008] One aspect of the present invention is directed to, a camera
including an image sensor, a sheath, and a housing. A first end of
the sheath is closed to form a cavity to accommodate the image
sensor, and the housing is adapted to mate with a second end of the
sheath. One of the housing and the second end of the sheath
includes at least one tab, and the other of the housing and the
second end of the sheath includes at least one slot, the at least
one tab being adapted to mate with the at least one slot when the
housing is mated with the second end of the sheath to inhibit the
second end of the sheath from rotating with respect to the
housing.
[0009] Another aspect of the present invention is directed to a
camera including a sheath, an image sensor, and a support. The
support, which is at least partially disposed within the sheath,
supports the image sensor within the sheath such that the image
sensor is rotatable about at least two axes of rotation with
respect to the sheath through a range of orientations, wherein an
imaging axis of the image sensor is oriented normal to an inner
surface of the sheath throughout the image sensor's range of
orientations.
[0010] Another aspect of the present invention is directed to an
actuation module for use with a camera including an image sensor
that is rotatable about at least two axes of rotation. The
actuation module includes a module base, and a pair of actuators.
The module base is adapted to be removably mounted in the camera.
The pair of actuators is mounted to the base so that the pair of
actuators can be removed from and inserted into the camera as a
single unit, each of the pair of actuators being adapted to rotate
the image sensor about a respective one of the at least two axes of
rotation.
[0011] Another aspect of the present invention is directed to a
camera module for use in a camera. The camera module includes a
module base, an image sensor, a cable, and a signal conditioning
circuit. The cable is coupled to the image sensor, and the signal
conditioning circuit is coupled to the cable to receive an
electronic signal produced by the image sensor via the cable. Each
of the image sensor, the cable, and the signal conditioning circuit
is mounted to the base, and the base is adapted to be removably
mounted in the camera, whereby the image sensor, the cable, the
signal conditioning circuit, and the base are removable from and
insertable into the camera as a single unit.
[0012] Another aspect of the present invention is directed to a
camera including a sheath, an image sensor, and at least one light.
The image sensor and the at least one light are disposed within the
sheath, and the at least one light is adapted to generate
sufficient heat to prevent condensation from forming on the sheath
when the sheath is inserted into a body of a living patient.
[0013] Another aspect of the present invention is directed to a
bearing ring assembly including first and second rings, and a
plurality of ball bearings. The second ring is arranged
concentrically with the first ring, and the ball bearings are
disposed between the first and second rings such that the first
ring is permitted to rotate with respect to the second ring. The
first ring includes at least one first mating feature adapted to
engage a first structure so that the at first ring is inhibited
from rotating with respect to the first structure.
BRIEF DESCRIPTION OF THE DRAWINGS
[0014] FIG. 1 is a block diagram showing an example of an imaging
system configured in accordance with one embodiment of the present
invention;
[0015] FIG. 2 shows an example of a camera, which may be used in
the imaging system of FIG. 1, in accordance with another embodiment
of the invention;
[0016] FIG. 3 is an exploded view of the camera of FIG. 2;
[0017] FIG. 4 illustrates an exemplary implementation of an upper
housing of the camera of FIGS. 2-3 in accordance with one
embodiment of the invention;
[0018] FIG. 5 illustrates an exemplary implementation of an
actuator module of the camera of FIGS. 2-3 in accordance with one
embodiment of the invention;
[0019] FIGS. 6a-b illustrates an exemplary implementation of a
bearing ring assembly of the camera of FIGS. 2-3 in accordance with
one embodiment of the invention;
[0020] FIG. 7 shows an illustrative embodiment of the distal end of
the camera of FIGS. 2-3 wherein the distal end includes components
for positioning the viewing elements of the camera;
[0021] FIG. 8 illustrates an exemplary lighting system that may be
used to illuminate a viewing area of the camera of FIGS. 2-3 in
accordance with one embodiment of the invention;
[0022] FIG. 9 shows an illustrative implementation of a camera
module of the camera of FIGS. 2-3 in accordance with one embodiment
of the invention;
[0023] FIGS. 10-11 shows an illustrative implementation of a lens
assembly of the camera of FIGS. 2-3 in accordance with one
embodiment of the invention;
[0024] FIG. 12 shows an example of a foot pedal control assembly
that may be employed as the camera remote control of FIG. 1 in one
embodiment of the invention;
[0025] FIGS. 13-15 show an example of a hand-operated remote
control that may be employed as the camera remote control of FIG. 1
in accordance with another embodiment of the invention; and
[0026] FIG. 16 shows an example of a voice-activated remote-control
that may be employed as the camera remote-control of FIG. 1 in
accordance with yet another embodiment of the invention.
DETAILED DESCRIPTION
[0027] FIG. 1 shows an example of an imaging system 100 according
to one embodiment of the present invention. As shown in FIG. 1, the
imaging system 100 includes a camera controller 102 (including a
display 104), a camera 106, and a camera remote-control 108.
[0028] In the illustrative embodiment of FIG. 1, the camera 106
includes a camera head 122 (including an image sensor 124 and a
lens assembly 128), a signal-conditioning circuit 120, and one or
more actuator(s) 118. In operation, an optical image viewed by the
camera head 122 is focused by the lens assembly 128 onto the image
sensor 124, and the image sensor 124 converts the received image
into electrical signals which are transmitted to the signal
conditioning circuit 120 via a connection 134. The signal
conditioning circuit 120 processes the signals received from the
image sensor 124, and transmits processed signals representing the
sensed image (via a communication link 130) to the camera
controller 102 for display to a user on the display 104. By
manipulating the camera remote-control 108, the user may cause
signals to be transmitted (via the camera controller 102 and the
communication link 130) to the actuator(s) 118 to cause the
actuator(s) 118 to adjust a physical position of the camera head
122, thereby controlling the image displayed on the display
104.
[0029] In the FIG. 1 example, the camera 106 is coupled to the
camera controller 102 via the communication link 130 so that the
camera 106 may be disposed remotely from the camera controller 102
and the camera remote-control 108. The communication link 130 may
be implemented in any of numerous ways, and the invention is not
limited to the use of any particular type of communication link.
For example, the communication link 130 may be implemented using a
standard multi-conductor cable, a single cable on which multiple
signals are multiplexed, or a wireless communication link (e.g., a
radio-frequency (RF) or infrared (IR) communication link). Also,
the communication link 130 can be virtually any length, and the
invention is not limited to the use of a communication link of any
particular length. For example, the communication link 130 may be
relatively short (requiring the camera controller 102 to be located
in the same room as the camera 106), or may traverse longer
distances, e.g., from room-to-room, building-to-building,
state-to-state, or country-to-country.
[0030] As shown in FIG. 1, the camera controller 102 may comprise a
programmed computer (including a processor 110, one or more
user-input devices 112, a memory 114, a printer 116, and the
display 104). The memory 114 may store a computer program (e.g.,
software or firmware) which, when executed by the processor 110,
cause the processor 110 to perform the various functions described
herein. It should be appreciated, however, that the camera
controller 102 may be configured in any of numerous ways, and that
the invention is not limited to the use of a programmed computer
such as that shown in FIG. 1. In alternative embodiments, for
example, the camera controller 102 may also comprise dedicated
hardware, alone or in combination with a programmed processor. It
should also be understood that, in some embodiments, the image
generated by the image sensor 124 can be displayed on devices that
are driven by circuits other than the processor 102, such that the
invention is not limited to the use of a processor-driven display
such as that shown in FIG. 1. For example, the display 104 may
alternatively be coupled directly to the signal conditioning
circuit 120 to display an image based on the signal therefrom.
[0031] Additionally, in some embodiments, the camera remote control
108 can be coupled directly to the actuator(s) 118 without passing
through the processor 110, e.g., when signals from the camera
remote-control 108 are not required to be converted/translated
before being passed to the actuator(s) 118. In embodiments wherein
the display 104 and the camera remote-control 108 do not pass
through a common processor, a simple interface unit (not shown) may
be used to provide a common connection point for the display 104,
the camera remote control 108, and the camera 106 so that only a
single cable or other transmission medium is needed to couple the
camera 106 to the other components (via such an interface unit),
thereby eliminating the cable clutter that would result if a
separate cable were used to connect each of the display 104 and the
camera remote control 108 to the camera 106.
[0032] The display 104 may be a general-purpose video display, a
television display, a liquid-crystal display (LCD), or any other
device suitable for displaying an image generated by the camera
106. In some embodiments, the memory 114 (e.g., a random access
memory (RAM), disk drive, tape drive, writeable compact disk (CD)
drive, etc.) of the camera controller 102 can be used to digitally
store one or more images generated by the camera 106.
Alternatively, an analog storage device, e.g., a video camera
recorder (VCR) (not shown), may be used to store a video signal
generated by the camera 106. In either case, the stored image may
later be displayed on the display 104, or may be displayed and/or
stored at a remote location either by transmitting (e.g., over a
network such as the Internet, or via a point-to-point communication
link) the stored image to the remote location, or by transporting
the storage medium (e.g., a CD, diskette, magnetic tape, VCR tape,
etc.) on which the image is stored to the remote location.
[0033] The camera remote-control 108 may be configured in any of
numerous ways, and the invention is not limited to any particular
type of remote-control device. In one illustrative embodiment, for
example, the camera remote-control 108 is a foot pedal control
assembly 1202 (see FIG. 12) including a group of foot-activated
switches with which the user may control the camera head 122. This
and other implementations of the camera remote-control 108 are
described below in connection with FIGS. 12-16.
[0034] With respect to the camera 106, the actuator(s) 118 which
cause the camera head 122 to move physically may be any device(s)
that are capable of performing this function. In one illustrative
embodiment, for example, the actuator(s) 118 include a pair of step
motors which, in response to electrical signals from the camera
controller 102, cause the elevation or azimuth of the camera head
122 to be adjusted, depending on which motor is activated. It
should be appreciated, however, that the invention is not limited
in this respect, and that actuators other than step motors (e.g.,
solenoid actuators) may alternatively be used.
[0035] As shown in FIG. 1, the actuator(s) 118 may be physically
linked to the camera head 122 via one or more mechanical links 132
so that physical forces generated by the actuator(s) 118 can be
transferred to the camera head 122 via these links. In such an
embodiment, the use of one or more elongated structures as the
mechanical link(s) 132 permits the camera head 122 to be disposed
remotely from the actuator(s) 118 by a distance equal to the length
of the mechanical link(s) 132. In one illustrative embodiment, the
mechanical link(s) 132 are configured such that the actuator(s) 118
and the camera head 122 are located, respectively, at proximal and
distal ends of the camera 106. In such an embodiment, the distal
end of the camera 106 can be made quite small since it need not
accommodate the actuator(s) 118 as well as the camera head 122.
[0036] As mentioned above, in the illustrative embodiment of FIG.
1, the camera head 122 is coupled to the signal conditioning
circuit 120 via the connection 134 so that electrical signals can
be transmitted from the camera head 122 to the signal conditioning
circuit 120. The use of the connection 134 in this manner permits
the camera head 122 to be disposed remotely from the signal
conditioning circuit 120 by a distance equal to the length of the
connection 134. In one illustrative embodiment, the camera head 122
is disposed near a distal end of the camera 106, and the signal
conditioning circuit is disposed proximal of the camera's distal
end. Such an embodiment further enables, the camera's distal end to
be quite small, since it need not accommodate the signal
conditioning circuit 120 along with the camera head 122.
[0037] In one illustrative embodiment, the signal conditioning
circuit 120 comprises an digital-to-analog converter (DAC) and an
amplifier. In such an embodiment, the DAC can convert a digital
signal generated by the image sensor 124 into an analog signal, and
the amplifier can amplify this analog signal prior to transmitting
it to the camera controller 102 or other circuitry. In another
embodiment, the signal conditioning circuit 120 comprises only an
amplifier which amplifies an analog signal generated by the image
sensor 124 prior to transmitting it to the camera controller 102.
In either case, the use of an amplifier within the signal
conditioning circuit 120 permits a relatively low amplitude signal
within the camera 106 to be amplified to a level sufficient for the
processor 110 to digitize with adequate resolution, and/or permits
the signal from the camera 106 to be transmitted over long cable
runs or otherwise transmitted over a relatively long distance to
the camera controller 102. It should be appreciated, however, that
the invention is not limited in this respect, and that the
signal-conditioning circuit 120 may be any of numerous alternative
types of signal-conditioning circuits. In alternative embodiments,
for example, the signal-conditioning circuit 120 may comprise one
or more filters, analog-to-digital converters (ADCs), digital
signal processors (DSPs), etc. In fact, in some embodiments, the
camera 106 need not include any type of signal-conditioning circuit
120, and the signal from the image sensor 124 may simply be
provided directly to the camera controller 102.
[0038] The components of the camera head 122 (i.e., the image
sensor 124 and the lens assembly 128) may be any of numerous
devices suitable for generating electrical signals representing an
image sensed by the camera head 122. The image sensor 124 may, for
example, include a charge-coupled device (CCD), a metal-oxide
semiconductor (MOS) sensor, or a microbolometer (i.e., an infra-red
detection array which is capable of perceiving objects at very low
levels of light). Alternatively, the image sensor 124 may include a
bundle of fiber optic cables which channel light from an image to a
remotely-located device that converts the light from the cables
into electronic signals representing the image. One example of a
lens assembly that may be employed in the camera head 122 is
described below in connection with FIGS. 11 and 12.
[0039] As mentioned above, in the illustrative embodiment of FIG.
1, the image sensor 124 is coupled to the signal-conditioning
circuit 120 via the connection 134. According to one aspect of the
present invention, the signal-conditioning circuit 120, the
connection 134, and the camera head 122 all are included in a
single module (i.e., a camera module) that can be removed from the
camera 106 as a unit so that the entire camera module can be
removed and replaced with a new camera module when any one of its
component parts fails. The failed camera module may then be
repaired while enabling the rest of the camera 106 to be used with
the replacement module. An example of a camera module 902
(including a signal conditioning circuit 120 (e.g., an amplifier),
a connection 134 (e.g., a flexible cable), and a camera head 122)
is described below in connection with FIGS. 8 and 9. The use of
such a camera module 902 can be advantageous, for example, because
it is often difficult to determine which of the module's component
parts have failed, thereby making it quicker and easier to replace
the entire module without having to identify the precise point of
failure.
[0040] Similarly, in another embodiment of the invention, all of
the actuator(s) 118 are grouped together in a single module (i.e.,
an actuator module) that can be removed from the camera 106 as a
unit so that the entire actuator module can be removed and replaced
with a new actuator module when any one of its component parts
fails. An example of an actuator module 402 is described below in
connection with FIGS. 4 and 5. Upon the failure of any one of the
actuator(s) 118, the entire actuator module may simply be replaced,
without having to determine which of the actuator(s) 118 has
failed, and without having to separate the failed actuator 118 and
gears associated therewith from the working actuator 118.
[0041] The embodiment of the camera 106 described below includes
both the camera module 902 and the actuator module 402. While the
use of both of these modules can provide significant advantages, it
should be appreciated that the present invention is not limited in
this respect, as the modules can also be used separately.
Furthermore, some embodiments of the invention do not employ any
such modules.
[0042] One illustrative embodiment of the camera 106 is shown in
FIG. 2. As shown, in the FIG. 2 embodiment, the camera 106 is in
the form of an elongated scope, which is useful for endoscopic
applications or other environments where access is desired to a
remote viewing area through a narrow opening. However, it should be
appreciated that the invention is not limited in this respect, and
that the camera 106 may be configured for use in any of numerous
alternative applications.
[0043] The illustrative embodiment of FIG. 2 may be used, for
example, in endoscopic applications by inserting a distal end 204
of the camera 106 through an incision in a torso 200 of a human
body so that the internal portion of the torso 200 can be viewed by
the camera head 122. In alternative embodiments, the camera 106 may
instead be used to view the internal portions of any other type of
cavity, e.g., a cargo hold, a pipe line, a room under surveillance,
etc. In the embodiment shown in FIG. 2, the camera head 122 is
located adjacent the distal end 204 of the camera 106, the
actuator(s) 118 are located inside an upper housing 202 at a
proximal end 208 of the camera 106, and the signal-conditioning
circuit 120 is located in a section 206 therebetween. In the FIG. 2
embodiment, the significant physical separation of the camera head
122 from both the signal conditioning circuit 120 and the
actuator(s) 118 is enabled by the use of an elongated cable as the
connection 134 (FIG. 1), and by the use of elongated structures as
the mechanical links 132 (FIG. 1). That is, the use of an elongated
cable as the connection 134 permits the signal conditioning circuit
120 to be separated from the camera head 122, and the use of
elongated structures as the mechanical links 132 permits the
actuator(s) 118 (in the upper housing 202) to be separated from the
camera head 122.
[0044] In the illustrative embodiment of FIG. 2, the physical
separation between the camera head 122 and the other components of
the camera 106 permits the distal end 204 to be only wide enough to
accommodate the camera head 122, without also having to accommodate
the actuator(s) 118. In this manner, the distal end 202 may be made
very narrow so that the camera 106 can enter the torso 200 (or
other cavity) through a very small opening. Alternatively, because
of the separation between the camera head 122 and the other
components of the camera 106 (e.g., the signal conditioning circuit
120 and the actuator(s) 118), a larger camera head 122 can be used
in the distal end 204 of the camera 106 without increasing the
width of the distal end 204. The use of a larger camera head may,
for example, permit larger optical elements (e.g., the lens
assembly 128 and the image sensor 124) to be used, thereby
increasing image resolution.
[0045] As shown in FIG. 3, the camera 106 may include an elongated
sheath 316, and an elongated support member 314 (to which the
camera head 122 is attached) disposed within the sheath 316. As
shown, the camera 106 may be assembled by inserting a distal end
306 of the support member 314 into an opening 308 at a proximal end
310 of the sheath 316. The distal end 306 is inserted into the
sheath 316 until the proximal end 310 of the sheath 316 abuts an
annular section 320 at a distal end 302 of the upper housing 202.
When the proximal end 310 contacts the annular section 320, gaps
312 between fingers 318 at the proximal end 310 permit the fingers
318 to separate outwardly so as to accommodate the annular section
320.
[0046] In the illustrative embodiment of FIG. 3, tabs 328 are
provided on the annular section 320 that are sized and positioned
so as to fit within the gaps 312 when the sheath 316 is attached to
the upper housing 202. This mating of the tabs 328 with the gaps
312 inhibits the sheath 316 from rotating with respect to the upper
housing 202 when attached thereto. Alternatively, one or more other
portions of the sheath (e.g., one or more of the fingers 318) may
be tabbed, and one or more corresponding portions of the upper
housing 202 (e.g., one or more sections of the annular section 320)
may be slotted, or vice versa, so that the mating of the "tabs"
with the "slots" inhibits the sheath 316 from rotating or otherwise
moving with respect to the upper housing 202 once these components
are locked into engagement.
[0047] In one embodiment, the sheath 316 is rigid so that, when the
support member 314 is accommodated by the sheath 316, the support
member 314 is permitted to rotate within the sheath 316, and the
sheath 316 remains spaced from the support member 314 throughout
the support member's permitted range of rotation. Because the
camera head 122 is attached to the support member 314, rotation of
the support member within the sheath 316 also causes the camera
head 122 to rotate within the sheath 316 so that the azimuth of the
camera head 122 can be adjusted while the sheath remains stationary
with respect to the subject being viewed. In the illustrative
embodiment of FIG. 3, the elevation of the camera head 122 also can
be adjusted within the sheath 316 without moving the sheath 316
with respect to the subject being viewed. As discussed in more
detail below, this ability to move the camera head 122 so that the
imaging axis 326 is oriented in virtually any direction while
keeping the sheath 316 stationary with respect to the subject being
viewed provides significant advantages.
[0048] In one embodiment for use in medical applications, the
sheath 316 is sterile so that, when it is attached to the upper
housing 202, it creates a sterile barrier between the elements
accommodated by the sheath (e.g., the support member 314 and the
camera head 122) and the environment outside the sheath 316 (e.g.,
the patient's torso 200 of FIG. 2). In such an embodiment, because
of this sterile barrier, it is not necessary to sterilize the
components accommodated by the sheath 316, which provides
significant advantages over prior art imaging systems in which such
sterilization is required. For example, because some components
need not be sterilized between procedures, these components are
immediately available for subsequent procedures, and the physician
does not have to wait for the components to be sterilized before
re-use. Rather, the physician may immediately begin a new procedure
by using a new (or newly-sterilized) sterile sheath 316 in
combination with the previously-used, unsterile components.
Additionally, because some components of the camera 106 need not be
sterilized between uses, the risk that these components will be
damaged during the sterilization process is eliminated.
[0049] In one embodiment, a flexible, sterile drape (not shown) is
attached to the sheath 316 (e.g., over a rim portion 304 of the
sheath 316). Such a drape may be extended proximally over the upper
housing 202 and a cord (not shown) coupling the camera 106 to the
camera controller 102 so that the sheath 316 and the drape together
create a sterile barrier between all components of the camera 106
and the subject being viewed.
[0050] In one embodiment of the present invention, an optically
clear material (e.g., plastic or glass having an "S1" finish), is
used to form the sheath to ensure that the sheath does not degrade
the quality of the image viewed by the camera. It should be
appreciated that, when the sheath 316 is used in a camera such as
that shown in FIG. 2, the imaging axis of the camera may pass only
through certain portions of the sheath when the camera is in
operation. In the embodiment of FIGS. 2-3, for example, when the
camera 106 is being used, the imaging axis 326 passes only through
a small portion 322 (FIG. 3) of the sheath 316 near the camera's
distal end 204. In another embodiment of the invention,
optically-clear materials are used only for the portion(s) of the
sheath that affect the quality of the image sensed by the camera,
and less expensive materials are used for the remaining portions of
the sheath. In the illustrative embodiment of FIGS. 2 and 3, for
example, only the small portion 322 (e.g., a length of "1.25"
inches) of the sheath 316 can be made of an optically-clear
material, and the remainder of the sheath 316 can be formed (e.g.,
as an opaque extrusion) from low-cost plastic, glass and/or other
low-cost materials. By producing the sheaths in such a low-cost
manner, each sheath 316 may, if desired, be disposed of after a
single use. It should be appreciated that, in alternative
embodiments, materials other than those mentioned may be used to
make the sheath 316, and the invention is not limited to the
specific materials identified.
[0051] The optically-clear portion 322 of the sheath 316 may be
secured to the opaque portion of the sheath 316 in any of numerous
ways, and the invention is not limited to any particular securing
technique. For example, in one embodiment, the optically-clear
portion 322 is secured to the non-optically-clear portion using an
epoxy. Alternatively, the optically-clear portion 322 may be
secured to the non-optically-clear portion using sonic-welding,
press-fitting, or any other technique.
[0052] In one embodiment, the curvature of the distal end of the
sheath 316 is spherical so that, when the camera head 122 rotates
about a pivot point 324 (as described below), the head remains a
constant distance from the inner surface of the sheath 316, and an
imaging axis 326, along which the camera head 122 senses an image,
remains normal to the inner surface of the sheath. In this manner,
the angle at which the imaging axis 326 intercepts the inner
surface of the sheath 316 does not change as the camera head 122
moves within the sheath 316, and does not cause the image sensed by
the camera head 122 to be distorted.
[0053] While sheaths having specific characteristics and specific
manufacturing techniques for producing such sheaths have been
described herein, it should be appreciated that the invention is
not limited to the particular sheaths or the particular
manufacturing techniques described.
[0054] FIG. 4 is a perspective, sectional view of the upper housing
202 of FIGS. 2-3 according to one embodiment of the invention. In
the illustrative embodiment of FIG. 4, the upper housing 202
includes two separate housing portions 202a and 202b which are
mated together. The portions 202a-b may be secured together in any
of numerous ways, and the invention is not limited to the use of
any particular securing technique. In one embodiment, for example,
the sections 202a-b are secured together using an epoxy.
Alternatively, the sections 202a-b may be sonic-welded, press-fit,
or otherwise secured together.
[0055] As mentioned above, according to one aspect of the
invention, each of a pair of actuators (e.g., step motors) is
included within a single actuator module that can be inserted in
and removed from the upper housing 202 as a unit. The illustrative
embodiment of FIG. 4 incorporates this aspect of the invention by
the use of an actuator module 402 which includes a pair of step
motors 118a-b. FIG. 5 shows the actuator module 402 separated from
the upper housing 202.
[0056] As discussed above, in one embodiment of the invention, the
support member 314 is rotatable within the sheath so that the
azimuth of the camera head 122 can be adjusted without moving the
sheath 316 with respect to the subject being viewed. Another
advantageous feature of the camera 106 (as illustrated best in FIG.
4) is that rotation of the support member 314 can also be
accomplished without rotating the upper housing 202 with respect to
the subject being viewed. That is, in the illustrative embodiment
of FIG. 4, the upper housing 202 and the sheath 316 are held
stationary with respect to one another, and the actuator module 402
and the support member 314 (which are held stationary with respect
to one another) rotate as a unit within the upper housing 202 and
the sheath 316. In this manner, all external portions of the camera
106 remain stationary with respect to the subject being viewed, and
only portions internal to the camera 106 move with respect to the
subject when the position of the camera head 122 is adjusted.
[0057] The rotation of the actuation module within the upper
housing 202 may be effected in any of numerous ways, and the
invention is not limited to any particular technique for
accomplishing this result. In the FIG. 4 embodiment, for example,
the actuation module is rotatably mounted within the upper housing
using a bearing ring assembly 412 (also shown in FIGS. 6A-B)
interposed between the actuator module 402 and an inner surface of
the upper housing 202. As shown in the illustrative embodiment of
FIGS. 4 and 6, the bearing ring assembly 412 includes an outer ring
412a, an inner ring 412b, and a plurality of ball bearings 412c
sandwiched therebetween. In this configuration, the outer ring 412a
is permitted to rotate freely about the inner ring 412b.
[0058] As is illustrated best in FIG. 6A, a pair of locking members
412d of the bearing ring assembly 412 engage corresponding notches
602 in the inner surface of the upper housing 202, thereby
preventing the outer ring 412a from moving with respect to the
upper housing 202. Similarly, a pair of locking members 412e engage
corresponding notches 604 in the actuator module 402 so as to
prevent the inner ring 412b from moving with respect to the
actuator module 402. Thus, because of the presence of the bearing
ring assembly 412, the actuator module 402 is permitted to rotate
freely within the upper housing unit 202.
[0059] While the bearing ring assembly 412 is described herein as
being used for a specific application, i.e., an actuator module
that is rotatable within a camera housing, it should be appreciated
that the invention is not limited in this respect. Rather, the
bearing ring assembly 412 may be used in any application wherein a
rotational relationship between two or more components is desired.
Although bearing ring assemblies are known, it is believed that the
use of one or more mating features such as the locking members 412d
and 412e that permit either (or both) of the bearing rings to be
held in a fixed physical relationship with another component
represent a notable advancement over the state of the art.
Therefore, a ring assembly having such features can be used in any
numerous other applications wherein bearing rings are employed.
[0060] In the illustrative embodiment of FIG. 4, the actuator
module 402 has a gear 408 rotatably secured to a top portion 428
thereof so as to permit the gear 408 to rotate with respect to the
actuator module 402. An upper extension 426 of the gear 408 is
fixably secured within a corresponding cavity 410 in the upper
housing 202 so that the gear 408 is not permitted to rotate with
respect to the upper housing 202.
[0061] One of the motors included in the actuator module 402 of
FIGS. 4-6 is an azimuth motor 118a having a gear 406 attached to a
drive shaft thereof so that the gear 406 rotates when the azimuth
motor 118a is activated. In the illustrative embodiment shown, the
gear 406 is mated with the gear 408 so that, when the azimuth motor
118a is activated, the rotation of the gear 406 causes the entire
actuator module 402 and the inner ring 412b to rotate with respect
to the upper housing 202 and the outer ring 412a.
[0062] In the FIG. 4 embodiment, a proximal end 430 of the
elongated support member 314 is secured within a corresponding
cavity 432 at the distal end of the actuator module 402 so that the
elongated support member 314 is held stationary with respect to the
actuator module 402. Therefore, when the actuator module 402 is
caused to rotate within the upper housing 202, the elongated
support member 314 is also caused to rotate with respect to the
upper housing 202.
[0063] As discussed above, the proximal end 310 of the sheath 316
may be secured to the distal end 302 of the upper housing 202. In
one embodiment, the sheath 316 is fixedly secured to the upper
housing 202 so that the sheath 316 is held stationary with respect
to the upper housing 202. Therefore, when the actuator module 402
is caused to rotate within the upper housing 202, the elongated
support member 314 is caused to rotate within the sheath 316.
[0064] When the communication link 130 (FIG. 1) between the camera
106 and the camera controller 102 comprises a multi-conductor cord,
this cord may pass through a hole 404 (FIG. 4) in the upper housing
202 and may be held therein using a rubber grommet or the like.
Individual wires of this cord may be connected to the actuators
118a-b, the signal conditioning circuit 120 and one or more lights
(described below in connection with FIG. 8). In one embodiment, the
rotation of the actuator module 402 within the upper housing 202 is
limited to plus or minus "180" degrees so as to prevent the wires
in the upper housing from becoming stretched, broken, or tangled.
Alternatively, slip rings may be employed to establish electrical
connections so that the actuator module 402 is permitted to rotate
within the upper housing 202 without limitation. When the
communication link 130 is wireless, a transceiver (not shown) may
be provided in the upper housing 202 to permit the camera
controller to communicate with the components of the camera
106.
[0065] FIG. 7 illustrates one exemplary implementation of a
mechanical assembly that may be employed in the camera 106 to cause
the camera head 122 to move to alter a viewing area 704 thereof.
Referring to FIG. 7 in conjunction with FIG. 4, it can be seen how
activation of the azimuth motor 118a (which causes the elongated
support member 314 to rotate within the sheath 316) causes the
camera head 122 to rotate within the sheath 316, thereby adjusting
an azimuth position the camera head 122 and altering the viewing
area 704 thereof. Because rotation of the support member 314 causes
the azimuth of the camera head 122 to be adjusted, the support
member 314 serves as one of the mechanical links 132 (FIG. 1) which
serves to transfer physical forces from the azimuth motor 118a to
the camera head 122.
[0066] In the illustrative embodiment of FIG. 4, the actuator
module 402 also includes an elevation motor 118b. In the FIG. 4
example, a threaded member 420 is coupled to a drive shaft (or is
itself the drive shaft) of the elevation motor 118b so that
activation of the elevation motor 118b causes the threaded member
420 to rotate. In the FIG. 4 embodiment, the threaded member 420 is
threaded within a corresponding threaded hold 422 in an arm 418.
The end of the arm 418 that includes the hole 422 is contained
within a cavity 434 located in the distal portion of the actuator
module 402 such that the arm 418 is permitted to move distally and
proximally (i.e., up and down) within the cavity 434, but is not
permitted to move sideways within the cavity 434. Therefore,
activation of the elevation motor 118b causes the threaded member
420 to rotate within the threaded hole 422, causing the arm 418 to
move distally and proximally with respect to the actuator module
402. In the FIG. 4 embodiment, a proximal end of an actuation rod
424 is inserted through a second hole 436 in the arm 418, and is
fixedly secured therein so that the actuation rod 424 is held
stationary with respect to the arm 418. Thus, in the illustrative
embodiment shown, movement of the arm 418 distally and proximally
causes the actuation rod 424 to move distally and proximally within
the sheath 316.
[0067] In the illustrative embodiment of FIG. 7, a distal end 716
of the actuation rod 424 has a hole 708 therein through which an
upper portion of a bail 706 is inserted so that the bail 706 is
permitted to rotate within the hole 708. As illustrated in FIG. 7,
a lower portion of the bail 706 may be movably connected to a pair
of arms 712 extending from a rear portion of the camera head 122.
In the FIG. 7 embodiment, at least one arm 702 (partially cut away
in FIG. 7) of the elongated support member 314 is pivotally
connected to a pivot point 324 on a side of the camera head 122 so
that the camera head 122 is permitted to pivot about the pivot
point 324. Therefore, the distal and proximal movement of the
actuation rod 424 (in response to the elevation motor 118b being
activated) causes the elevation of the camera head 122 and the
viewing area 704 thereof to be adjusted. Because movement of the
actuation rod 424 causes the elevation of the camera head 122 to be
adjusted, the actuation rod 424 serves as another of the mechanical
links 132 (FIG. 1) which serves to transfer physical forces from
the azimuth motor 118b to the camera head 122.
[0068] The range of elevations through which the camera head 122
can be oriented, by pivoting about pivot point 324 (FIG. 7), may
vary depending on the physical configuration of the camera 106 and
the application for which the camera 106 is being used. In the
embodiment of FIGS. 2-7, for example, in which the camera 106 is
designed for use in an endoscopic surgical procedure, the camera
head 122 pivots through an angle of approximately "175" degrees
about the pivot point 324. The camera can be considered as
including a reference axis 718 that extends along a longitudinal
axis of the support member 314. In one embodiment of the invention,
the camera 122 can be pivoted to form any angle between the imaging
axis 326 (FIG. 3) and the reference axis 718 up to a maximum of
"165" degrees. The elevation limit of "165" degrees from the
reference axis 718 defines the elevation angle at which the viewing
area 704 begins to encompass the camera 106 itself, rather than the
subject matter to be viewed. In addition, to ensure that the
support shaft need not be repeatedly rotated when viewing an area
substantially in-line with the reference axis 718, in one
embodiment of the invention the camera 122 can also be pivoted in
the opposite direction to form any angle between the imaging axis
326 (FIG. 3) and the reference axis 718 up to a maximum of "10"
degrees.
[0069] It should be appreciated that, although a particular range
of pivoting of the camera head 122 has been described in connection
with the embodiment of FIGS. 2-7, the invention is not limited in
this respect. In alternative embodiments, the camera 106 can be
configured such that the camera head 122 can be oriented throughout
a wider or narrower range of elevations than that described.
Preferably, the camera 106 is configured such that the imaging axis
326 of the camera head 122 is capable of being elevated to an angle
of at least "45" degrees from the reference axis 718, more
preferably to an angle of at least "90" degrees, and even more
preferably to an angle of at least "135" degrees.
[0070] In operation, when the distal end 204 of the camera 106 is
inserted, for example, into a body of a patient, a user who is
viewing an object 714 (located in the viewing area 704) on the
display 104 (FIG. 1) is able to use the camera remote-control 108:
(1) to activate the azimuth motor 118a to adjust the azimuth of the
camera head 122, and (2) to activate the elevation motor 118b to
adjust the elevation of the camera head 122. The user therefore is
permitted to view virtually any position within the area of
interest in the patient's body, without requiring the sheath to be
moved or rotated within the patient's body. This ability to adjust
the viewing area 704 without moving the sheath 316 within the
patient's body can be particularly advantageous because friction
between the sheath and the patient's body can cause tissue damage
and/or irritation.
[0071] With respect to the above-described actuators and mechanical
links used to adjust the elevation and azimuth of the camera head
122, it should be understood that these are only examples of
mechanisms that can be used to cause the camera head 122 to move
within the sheath 316, and that the invention is not limited to the
use of the particular camera-position control mechanisms described.
Other types of actuators and/or mechanical links that perform
similar functions may alternatively be employed. Also, it should be
understood that the invention is not limited to embodiments in
which one actuator controls the azimuth of the camera head 122 and
another actuator controls its elevation. In alternative
embodiments, for example, one actuator may cause the camera head
122 to pivot about a first pivot axis in a first plane, and another
actuator may cause the first plane to pivot about a second pivot
axis that is transverse to the first pivot axis. It should further
be appreciated that multiple actuators need not be employed in all
embodiments, and that the camera head 122 may alternatively be
caused to move in only a single plane, or may otherwise have a
lesser range of motion than that described above.
[0072] In one embodiment of the invention, the camera 106 includes
an on-board lighting scheme that permits the camera 106 to be used
in poorly illuminated areas, e.g., inside a patient's body, without
requiring a separate light source to be provided to illuminate the
area being viewed. FIG. 8 illustrates an example of such a lighting
scheme. In the illustrative embodiment of FIG. 8, a set of seven
diffused lights 802a-g are powered via the connection 134, and are
disposed on one side of the elongated support shaft 314 so that a
relatively wide area 806 on that side of the support shaft is
illuminated. It should be understood, however, that in alternative
embodiments, additional or fewer diffused lights may be used, and
the diffused lights may be arranged in configurations (e.g., on
both sides of the support shaft 314) other than that shown in FIG.
8.
[0073] In the FIG. 8 embodiment, in addition to the diffused lights
802a-g, a pair of focused lights 804a-b are disposed on either side
of the camera head 122 so that the viewing area 704 is particularly
well illuminated by these focused lights 804a-b. As shown, the
lights 804a-b may be secured to the camera head 122 so as to move
with the camera head 122 and be illuminating the viewing area 704
at all times. As with the diffused lights 802, it should be
appreciated that the invention is not limited in this respect, and
that, in alternative embodiments, additional or fewer focused
lights may be used, and the focused lights may be arranged in any
of a number of alternative configurations. Also, it should be
appreciated that some embodiments may include only diffused lights,
or only focused lights, and that the invention is not limited to
embodiments that employ both.
[0074] When the camera 106 is moved to a location that is at a
lower temperature than the environment from which the camera 106
was moved, the temperature difference may cause the atmosphere
inside the sheath 316 to cool, thereby causing condensation to form
on an inner surface of the sheath 316. Such a phenomenon can occur,
for example, when the camera 106 is inserted into a cavity of a
patient's body that has been insufflated with air, carbon dioxide,
or other gas(es), because the flow of gas into the cavity tends to
cause the cavity to become colder than both the atmosphere outside
the patient's body and the patient's normal body temperature.
[0075] In one embodiment, one or more of the lights 802a-g and
804a-b can be selected to produce a sufficient amount of heat to
inhibit moisture from condensing on the inner surface of the sheath
316 when the camera 106 is inserted into a cavity that is colder
than the environment in which the camera was previously located.
For example, in embodiments of the invention for use in surgical
applications, one or more of the lights 802a-g and 804a-b may be
selected and/or controlled to produce enough heat to prevent any
moisture from condensing on the surface of the sheath 316 when the
system is inserted in a patient's body by maintaining the
temperature within the sheath above a normal body temperature
(e.g., "37" degrees Celsius). In one embodiment, in order to comply
with current guidelines of the United States Food and Drug
Administration, the heat generated by the focused lights 804a-b
maintains the temperature within the sheath: (a) above "37" degrees
Celsius throughout the sheath, (b) below "45" degrees Celsius near
the camera's distal end 204, and (c) below "41" degrees Celsius
near the proximal end 310 of the sheath 316. It should be
appreciated, however, that the amount of heat generated may be
adjusted to comply with different guidelines, or may be adjusted
for use in environments other than a patient's body.
[0076] In the illustrative embodiment of the invention shown in
FIGS. 7-9, the connection 134 between the signal-conditioning
circuit 120 and the camera head 122 is formed using a
multi-conductor flexible cable. Signals from the image sensor 124
(e.g., a CCD), as well as power signals for the diffused lights
802a-g and the focused lights 804a-b, may be fed through this
flexible cable. As shown in FIG. 7, the image sensor 124 may
comprise a CCD to which the flexible cable is connected. In
embodiments of the invention that employ a flexible cable as the
connection 134, the optical elements in the camera head 122 that
focus and receive light from an image being sensed (e.g., the lens
assembly 128 and the image sensor 124) need not be in-line with the
signal conditioning circuit 120 or other elements of the camera
106, and can be positioned independently therefrom. This is in
contrast to a conventional camera in which the lens, the viewing
aperture and the recording medium (e.g., film) are optically
aligned within the body of the camera. Because the camera head 122
can be positioned independently from the other elements of the
camera 106, the camera head 122 can be rotated within the distal
end of the sheath 316 without also rotating the other camera
elements therein. This feature enables the distal end 204 of the
camera 106 to be smaller than if all of the components of the
camera 106 were required to rotate in unison within the sheath 316.
Although using a flexible circuit as the connection 134 provides
numerous advantages, it should be appreciated that the invention is
not limited in this respect, and that the connection 134 may be
formed using a number of alternative types of connectors.
[0077] As mentioned above, according to one aspect of the
invention, the signal-conditioning circuit 120, the connection 134,
and the camera head 122 of the camera 106 (FIG. 1) all are included
within a single camera module which may be inserted in and removed
from the camera 106 as a unit. The embodiment of FIGS. 7-9
incorporates this aspect of the invention by employing a camera
module 902 (see FIG. 9) which includes the amplifier circuit 120
(not shown in FIG. 8), the flexible cable 134, and the camera head
122. FIG. 9 shows an example of how the camera module 902 may
appear when separated from the other components of the camera 106.
Although not illustrated in FIG. 9, in some embodiments, the
diffused lights 802a-g and/or the focused lights 804a-b may also be
included in the camera module 902. In embodiments of the invention
that employ the camera module 902 of FIGS. 7-9, when any one of the
constituent components of the camera module 902 fails, the entire
camera module 902 may be swapped for a new camera module so that
the camera 106 may still be used while the swapped-out camera
module is being repaired.
[0078] The lens assembly 128 (FIG. 1) may be configured in any of a
number of ways, and the invention is not limited to any particular
configuration. In one embodiment, the lens assembly 128 acts as a
constant focus lens and does not require any focusing or
positioning mechanism. Because focusing a lens typically requires
components of the lens assembly to be moved over a certain
distance, and requires a focusing mechanism which consumes space,
the use of a constant focus lens enables the distal end of a camera
(such as the endoscopic camera 106) employing this type of lens
assembly to be made smaller than a focused lens assembly. FIG. 10
shows an illustrative example of a constant focus lens
assembly.
[0079] In the FIG. 10 example, the lens assembly 128 may be
employed to focus an image onto the image sensor 124 (e.g., a CCD)
within the camera head 122. An example of how the lens assembly 128
may be positioned with respect to the other components in the
camera 106 is shown in FIG. 8. As shown in FIG. 10, the lens
assembly 128 may include a lens housing 1002, and several lenses
1020, 1030, 1040 supported thereby. FIG. 11 illustrates how the
lenses 1020, 1030, 1040 may be used to focus light onto the image
sensor 124.
[0080] In one embodiment, an outer surface 1080 of the lens housing
1002 is threaded so that the lens housing 1002 may be screwed into
position within a correspondingly threaded cavity (not shown)
within a camera housing 808 (FIG. 8) that also supports the image
sensor 124. In this manner, the distance between the lens assembly
128 and the image sensor 124 may be optimized by rotating the
threaded lens housing 1002. Once this distance is optimized, the
lens housing 1002 may be secured within the camera housing 808, for
example, using an epoxy adhesive. In one embodiment, an adhesive
that forms a bond that can be readily broken when heated or
otherwise subjected to an abnormal environmental condition may be
used so that the lens assembly 128 can be readily replaced if
defective.
[0081] The lens assembly 128 provides a constant focus lens array
which can be used to focus light from a target onto an the image
sensor 124. Optically, one embodiment of the lens assembly 128 has
an effective focal length of "3.53" mm in air, an F number of
"11.2," and an angle of view of "34" degrees. These optical
characteristics permit high resolution images to be taken of any
object that is more than approximately one inch away from the lens
assembly 128 without requiring the use of focusing or lens
positioning equipment. Because the lens assembly 128 does not
require any sort of lens positioning equipment to focus light on
the CCD, the lens assembly 128 can be quite small (e.g., in one
embodiment, the lens assembly 128 is less than "5" mm in diameter
and less than "5" mm in depth). This permits the lens assembly 128
to be used in a variety of different devices. For example, the
small size of the lens assembly 128 is advantageous for use in the
camera 106 of FIGS. 2-9 used in minimally-invasive
surgical/diagnostic procedures. The lens assembly 128 may also be
advantageously used in any of numerous other applications, e.g.,
videoscopes or surveillance equipment. Examples of such alternative
applications are described in co-pending patent application Ser.
No. 09/126,368, which is hereby incorporated herein by reference.
While other lens assemblies may be capable of achieving similar
optical characteristics, such lens assemblies would generally
include a greater number of distinct lenses, thus preventing them
from being used in devices where it is desirable to minimize the
physical dimensions of the lens assembly.
[0082] As shown in the illustrative embodiment of FIGS. 10-11, the
lens assembly 128 may include a distal lens 1020, a doublet lens
1030 (including component lenses 1030a-b), and a proximal lens
1040. As shown, the lens assembly 128 may also include an outer
lens 1010 to further focus light received from a target. The outer
lens 1010 may, for example, be formed from a polycarbonate material
having a radius of curvature of "5" mm, a thickness of "0.381" mm,
and a diameter of "10" mm. In one embodiment, the outer lens 1010
comprises a part of the sheath 316 (FIG. 3). Alternatively, the
outer lens 1010 may be housed by the lens housing 1002 of FIG.
10.
[0083] In the illustrative embodiment shown, the distal lens 1020
is a convex/concave lens that may be formed, for example, from
SFL56 type optical glass having a thickness of "0.53" mm. The
convex surface of the distal lens 1020 may have a radius of
curvature of "1.3" mm, and the concave surface of the distal lens
1020 may have a radius of curvature of "2.378" mm. When used in
conjunction with the outer lens 1010, the lens 1020 may be
separated from the outer lens 1010 by a space of "0.3" mm.
[0084] In the embodiment of FIGS. 10 and 11, the lens 1030 is a
doublet lens including component lenses 1030a-b that are formed
from two different types of glass. The lens 1030a may, for example,
be formed from SK18A type optical glass having a thickness of
"0.919" mm, and the lens 1030b may, for example, be formed from
SFL56 type optical glass having a thickness of "0.657" mm. The
concave surface of the lens 1030a may, for example, have a radius
of curvature of "0.948" mm, and the convex surface of the lens
1030a may, for example, have a radius of curvature "1.052" mm. The
concave surface of the lens 1030b may, for example, have a radius
of curvature of "1.052" mm (i.e., the same as the convex surface of
the lens 1030a), and the convex surface of the lens 1030b may, for
example, have a radius of curvature of "1.7162" mm.
[0085] The lenses 1030a may be cemented together using an optical
cement (e.g., NORLAND 61), and the doublet lens 1030 may be
separated from the distal lens 1020, for example, by a distance of
"0.533" mm. The distance between the distal lens 1020 and an
aperture stop 1125 (see FIG. 11) of the lens assembly 128 (i.e.,
the plane at which the light rays converge) may, for example, be
"0.2" mm, and the distance between the aperture stop 1125 and the
doublet lens 1030 may, for example, be "0.333" mm.
[0086] In the illustrative embodiment of FIGS. 10-11, the proximal
lens 1040 is a bi-convex lens that may be formed, for example, from
SK18A type optical glass having a thickness of "1.500" mm. The
radius of curvature of each of the convex surfaces of the proximal
lens 1040 may, for example, be "6.063" mm. This permits the
proximal lens 1040 to be manufactured at a low cost, as similar
fabrication procedures can be used for each surface. Furthermore,
production of the proximal lens assembly 128 is facilitated and
manufacturing defects are reduced because the proximal lens 1040
cannot be inserted in the wrong orientation. That is, when both
surfaces of a lens have the same shape (i.e., bi-concave or
bi-convex) and differ only in their radius of curvature, it is
difficult to distinguish one surface of the lens from the other. In
the illustrative embodiment shown, the proximal lens 1040 is
separated from the doublet lens 1030 by a space of "0.1" mm, and is
separated from image sensor 124 by a space of "0.758" mm. Although
not shown in FIGS. 10-11, each of the lenses 1020, 1030 and 1040
may include an anti-reflective coating on its outermost
surface.
[0087] It should be appreciated that the materials and dimensions
of the lens assembly 128 described above are exemplary only, as the
dimensions of the lenses 1010, 1020, 1030, 1040, the types of
optical glass, and the separation distances between the lenses may
be varied. The example glass types given above, i.e., optical glass
types SFL56 and SK18A, are available from Schott Glass
Technologies, Inc. of Duryea Pa. Optical glass types from other
manufacturers may alternatively be used, although other
manufacturers may have different designations for optical glass
types having similar optical characteristics to those described
above. In general, the optical characteristics that are most
significant are the index of refraction and the V number (i.e., the
ABBE value) of the glass. The polycarbonate material used for the
outer lens 1010 may, for example, have an index of refraction of
"1.585" and a V number of "29.9," the SFL56 type optical glass may,
for example, have an index of refraction of "1.785" and a V number
of "26.1," and the SK18A type optical glass may, for example, have
an index of refraction of "1.639" and a V number of "55.4." While
the particular embodiment of the lens assembly 128 described in
connection with FIGS. 10-11 has significant advantages, it should
be appreciated that any of numerous other types of lens assemblies
having different numbers and/or types of components may
alternatively be employed, and that the invention is not limited to
the particular embodiment of the lens assembly 128 described
above.
[0088] In one embodiment of the present invention, the lens
assembly 128 is used with an image sensor 124 (e.g., a CCD) that
includes one or more optical surfaces 1050, 1060 that are separated
from a pixel array 1070 of the image sensor 124 (FIGS. 10-11). An
example of such an image sensor 124 is the GPKS 462 model CCD from
Panasonic. The optical surfaces 1050, 1060 may include one or more
filters (i.e., an infrared filter, an antialiasing filter, etc).
The image sensor 124 may also include a plurality of microlenses
1065 that are used to increase the sensitivity of the pixel
elements in the pixel array 1070. Such image sensors having
microlenses 1065 covering the pixel elements of the pixel array
1070 have become increasingly popular. However, applicants have
found that conventional lens systems are not well suited for use
with such image sensors. In particular, applicants have determined
that when the light incident on the outermost surface of an image
sensor (e.g., the surface 1050) is more than approximately ten
degrees from perpendicular, the pixel elements of the image sensor
can fail to adequately and uniformly image a target. That is, due
to the presence of the microlenses 1065, the amount of light
detected by the pixel elements at the outer edges of the array can
be less than that detected by the pixel elements in the center of
the array, even when viewing a uniformly lit target. However, the
lens assembly 128 described above is particularly well suited for
use with image sensors having such microlenses 1065 covering the
pixel array 1070 because the lens assembly 128 focuses light so
that it is nearly perpendicular to the outermost surface 1050 of
the image sensor 124, even at the outer edges of the image sensor
(i.e., the lens assembly is telocentric in image space). It should
be appreciated that although the lens assembly 128 is particularly
well suited for use with this type of image sensor, the invention
in not limited in this respect, and that any of numerous
alternative types of image sensors (with or without microlenses
1065 and the other above-described features) may be employed.
[0089] In contrast to conventional scopes that are manually
positioned within a remote area to be viewed (e.g., a patient's
body cavity), the camera remote-control 108 (FIG. 1) may be used to
position the camera head 122 within the cavity from a location
outside the cavity. FIG. 12 shows an example of a foot pedal
control assembly 1202 that may be employed as the camera
remote-control 108. In the illustrative embodiment of FIG. 12, the
foot pedal control assembly 1202 includes four controls: (1) an
azimuth (left or right) control 1204; (2) an elevation (up or down)
control 1206; (3) a zoom (in or out) control 1208; and (4) a light
intensity (dimmer or brighter) control 1210. With respect to the
azimuth control 1204, the elevation control 1206, and the light
intensity control 1210, signals from the foot pedal control
assembly 1202 may be routed (via the camera controller 102) to the
camera 106 (FIG. 1). If necessary, the camera controller 102 may be
used to convert the signals from the foot pedal control assembly
1202 into signals which are suitable to control the actuator(s) 118
and/or the lights 802, 804 within the camera 106. With respect to
the zoom control 1208, signals from the foot control assembly 1202
may be used to cause the camera controller 102 to adjust a relative
portion of the sensed image that is displayed on the display 104
(i.e., to digitally zoom) so as to adjust the zoom of the displayed
image. Alternatively, a mechanical zoom control (not shown),
including an additional actuator 118 (not shown) and an additional
mechanical link 132 (not shown), may be provided in the camera 106
to mechanically adjust a zoom of the camera head 122 in response to
signals from the camera remote-control 108.
[0090] FIGS. 13-15 (in several different views) show an example of
another remote-control device, i.e., a hand operated remote-control
touch panel 1300, which may be used as the camera remote-control
108. In one embodiment for use in surgical applications, the
remote-control touch panel 1300 is constructed from medical-grade
plastic that is provided in a sterilized condition, and is intended
to be disposed of after use. However, it should be appreciated that
the remote-control touch panel 1300 may alternatively be
constructed from other materials, such as heat-resistant materials
that allow it to be sterilized and re-used.
[0091] As shown in FIG. 13, the remote-control touch panel 1300 may
include a number of controls 1310-1360 for controlling the camera
106. Each of these controls provides a control signal that can be
communicated to the camera controller 102, for example, by a wire
that is connected to lead 1370. Alternatively, a wireless
transmission medium (not shown) can be used to communicate the
control signals to the camera controller 102. In the example shown,
controls 1310 and 1315 adjust the elevation of the camera head 122,
and controls 1320 and 1325 adjust the azimuth of the camera head
122. Also, in the FIG. 13 embodiment, controls 1330 and 1335 alter
the field of view 704 (FIG. 7) of the camera head by zooming in and
out on the target 714 being imaged.
[0092] In the embodiment depicted, each of controls 1310-1335 can
be activated by depressing a raised button on an upper surface 1380
of the touch panel. Because each button is raised above the plane
of the touch panel 1300, the person operating the camera 106 can
control the camera using only their sense of touch. This form of
tactile feedback enables the operator (e.g., a surgeon) to focus
his or her full attention on the procedure being performed.
Furthermore, each button can also include raised lettering on the
top surface of the button to further aid selection by the
operator.
[0093] As shown in FIG. 13, the remote-control touch panel 1300
also includes controls 1340-1360 for use in conjunction with a
computerized control mechanism (e.g., the camera controller 102) to
manipulate and/or store the signals from the image sensor 124. As
described further below, menu control 1340 enables the operator to
select and adjust control parameters that affect the quality of the
image being displayed. The control 1350 enables the operator to
store one or more snapshots of an image seen by the image sensor at
a particular instant in time. For example, snapshots of the image
can be stored by the memory 114 (FIG. 1), which may comprise any
form of storage medium (i.e., disk, tape, compact disk, etc.). The
control 1360 can be used to cause the printer 116 to print a
snapshot of an image seen by the image sensor 124 at a particular
instant of time, or to print a copy of an image that has been
previously stored in the memory 114.
[0094] As noted above, menu control 1340 may enable the operator
(e.g., a surgeon) to control the quality of the image being
displayed through a series of pop-up menus that are displayed on a
display device (e.g., the display 104). For example, when the menu
control 1340 is selected, a top level menu may be displayed that
allows the operator to manipulate the nature of the picture being
displayed, for example, by altering the brightness, contrast, tint,
color, etc. Controls 1310 and 1315 can be used to scroll up and
down the top-level menu, and control 1350 can be used to select a
particular sub-menu from the top-level menu. Upon selection of a
particular sub-menu, controls 1320 and 1325 may be used to increase
and decrease the value of a particular display parameter, for
example, the contrast of the image. Menu control 1340 may also be
used to permit the operator to select a predefined set of preferred
display parameters, or to enable the operator to take advantage of
the capabilities of the camera controller 102 by performing other
functions (e.g., transmitting an image captured by the system over
a transmission line (not shown) coupled to the camera controller
102).
[0095] In the embodiment shown in FIGS. 13-15, the remote-control
touch panel 1300 is formed from three layers of medical-grade
plastic including an upper layer 1510, a lower layer 1530, and an
intermediate layer 1520. In the example shown, the upper layer 1510
includes a plurality of conductive contacts (e.g., 1361, 1316,
1336) corresponding to the plurality of controls 1310-1360. In the
lower layer 1530, directly below each of these conductive contacts,
is a corresponding contact (e.g. 1460, 1415, 1435) that is
connected to lead 1370 by a respective one of conductors 1480 (FIG.
14). Intermediate layer 1520 separates the conductive contacts in
the upper layer 1510 from their corresponding contacts 1410-1460 in
lower layer 1530. However, apertures 1540 in the intermediate layer
1520 permit electrical conduction between each set of corresponding
contacts in the upper and lower layers when the corresponding
control is depressed or activated.
[0096] In the embodiment shown in FIGS. 13-15, the lead 1370 may be
integrally formed as part of the lower layer 1530. This can
simplify the manufacture of the remote-control touch panel by
reducing the number of distinct elements in the design.
Furthermore, as fewer distinct elements need to be aligned (i.e.,
each of conductors 1480 with one of the conductors in lead 1370) to
form the touch panel, the cost of manufacturing the touch panel can
be reduced, thereby allowing it to be economically disposed of
after use.
[0097] In one embodiment of the present invention, the lower
surface 1490 (FIG. 14) of the touch panel is coated with an
adhesive and covered by a removable backing (not shown). Removal of
the backing permits the touch panel to be mounted to a supporting
surface, such as an operating table, or the patient. In this
manner, the remote-control touch panel 1300 can be positioned where
it is most conveniently used. Furthermore, because the
remote-control touch panel 1300 is formed from flexible materials,
the touch panel can be mounted to irregularly shaped surfaces as
well as planar surfaces.
[0098] It should further be appreciated that the remote-control
touch panel 1300 in which the camera head 122 is positionable by
the operator's hands provides a number of advantages. For example,
when used by a surgeon, the remote-control touch panel can be
mounted so that it is within the field of view of the surgeon
during the surgical procedure. In addition, it can be mounted so
that it is close to the surgeon's hand during all phases of the
surgical procedure.
[0099] FIG. 16 shows yet another example of a camera remote-control
108, i.e., a voice-activated remote-control 1600, which may be used
to remotely control the camera 106. In the illustrative embodiment
shown, the voice-activated remote-control 1600 includes a
microphone 1610 which is coupled to the camera controller 102 via a
cable 1620. Alternatively, the voice activated remote-control 1600
may be coupled to the camera controller 102 via a wireless
transmission medium.
[0100] Voice recognition software stored on the memory 114 may be
executed by the processor 110 in the camera controller 102 to
control the operation of the camera 106 in response to predefined
oral commands. For example, the words "left" and "right" can be
used to alter the azimuth of the camera head 122, while the words
"up" and "down" can be used to alter the elevation of the camera
head 122. Other commands may also be defined to adjust the field of
view of the camera (e.g., "zoom in," "zoom out"), adjust the
intensity of the lights (e.g., "bright," "dim"), and to store or
print a picture. In this manner, the operator (e.g., a surgeon) can
devote his/her full attention to the procedure being performed, as
neither the operator's hands nor eyes are required to control the
operation of the camera 106.
[0101] Regardless of the particular type of remote-control device
that is used as the camera remote-control 108, the camera
remote-control 108 may (as discussed above) be spaced apart from
the camera 106, providing great flexibility in the placement of the
camera remote-control 108. That is, the camera remote-control 108
may be positioned away from the camera 106 and/or the camera
controller 102 at a location where it can be most conveniently
accessed by the operator. In one embodiment, the camera
remote-control 108 includes an adhesive backing that permits it to
be mounted to any supporting surface, including a patient, that is
convenient to the operator. Alternatively, the camera
remote-control 108 may be mounted to another device (e.g., a
medical instrument) where it can be conveniently accessed while
using the other device.
[0102] Having described several embodiments of the invention in
detail, various modifications and improvements will readily occur
to those skilled in the art. Such modifications and improvements
are intended to be within the spirit and scope of the invention.
Accordingly, the foregoing description is by way of example only,
and is not intended as limiting. The invention is limited only as
defined by the following claims and the equivalents thereto.
* * * * *