Wireless swivel camera laparoscopic instrument with a virtual mapping and guidance system

Abstract

A lighted swivel laparoscopic imaging apparatus has a shaft having a proximal end opposite a distal end, wherein the proximal end is configured for attachment to an actuator, wherein a longitudinal axis extends through the shaft, between the proximal and distal ends, wherein the distal end is configured for insertion into patient anatomy and for attachment of one or more laparoscopic tools, wherein at least a first laparoscopic tool at the distal end pivots on a first gimbal apparatus that is actable, from the actuator at the proximal end of the shaft, to rotate the at least the first laparoscopic tool about the longitudinal axis of the shaft and, further, to rotate the at least the first laparoscopic tool about at least a second axis, orthogonal to the longitudinal axis. The images from the laparoscopic instrument may be viewed in virtual format with a virtual overlay of where the instruments exist and are moving inside the body from an AR/XR headset or other 3D viewing device.

1 . A laparoscopic imaging apparatus comprising a shaft having a proximal end opposite a distal end, wherein the proximal end is configured for attachment to an actuator, wherein a longitudinal axis extends through the shaft, between the proximal and distal ends, wherein the distal end is configured for insertion into patient anatomy and for attachment of one or more laparoscopic tools, wherein at least a first laparoscopic tool at the distal end pivots on a first gimbal apparatus that is actable, from the actuator at the proximal end of the shaft, to rotate the at least the first laparoscopic tool about the longitudinal axis of the shaft and, further, to rotate the at least the first laparoscopic tool about at least a second axis, orthogonal to the longitudinal axis. 
     
     
         2 . The laparoscopic imaging apparatus of  claim 1  further comprising a flexible sleeve covering the gimbal apparatus. 
     
     
         3 . The laparoscopic imaging apparatus of  claim 1  wherein the laparoscopic tool is a camera. 
     
     
         4 . The laparoscopic imaging apparatus of  claim 1  further comprising a second laparoscopic tool at the distal end, disposed to pivot on a second gimbal apparatus. 
     
     
         5 . The laparoscopic imaging apparatus of  claim 1  wherein the actuator provides an electrical signal. 
     
     
         6 . The laparoscopic imaging apparatus of  claim 1  wherein the actuator provides mechanical movement. 
     
     
         7 . The laparoscopic imaging apparatus of  claim 1  further comprising at least one light-emitting diode at the distal end of the shaft. 
     
     
         8 . The laparoscopic imaging apparatus of  claim 1  wherein the gimbal is controlled using one or more cables. 
     
     
         9 . The laparoscopic imaging apparatus of  claim 4  wherein the second laparoscopic tool is a camera. 
     
     
         10 . A laparoscopic imaging apparatus comprising:
 (a) a control handle that is configured for attachment and actuation of a laparoscopic tool;   (b) a tube extending from the control handle and configured for attachment and control of the laparoscopic tool, wherein the tube has a central axis; and   (c) a gimbal coupling at the distal end of the tube and configured to allow full rotation about the central axis and rotation over an arc about an axis orthogonal to the central axis.