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 real-time virtual mapping and guidance system for use in laparoscopic surgeries comprising:
 a plurality of sensors;   a processor wherein the processor receives visual and location data from the plurality of sensors and processes said visual and location data to generate a virtual map of at least a portion of a surgical field; and   at least one display such that the display shows the virtual map generated by the processor.   
     
     
         2 . The real-time virtual mapping and guidance system for use in laparoscopic surgeries of  claim 1  wherein the virtual map is a three-dimensional virtual map. 
     
     
         3 . The real-time virtual mapping and guidance system for use in laparoscopic surgeries of  claim 1  wherein the plurality of sensors comprises at least one camera, LIDAR sensor, gyroscope, accelerometer, magnetometer, GPS device, RFID device, or ball bearing type rolling sensor. 
     
     
         4 . The real-time virtual mapping and guidance system for use in laparoscopic surgeries of  claim 1  wherein the virtual map comprises the location and orientation of one or more laparoscopic tools. 
     
     
         5 . The real-time virtual mapping and guidance system for use in laparoscopic surgeries of  claim 4  wherein the virtual map further comprises the location and orientation of one or more organs inside a patient's body cavity. 
     
     
         6 . The real-time virtual mapping and guidance system for use in laparoscopic surgeries of  claim 1  wherein the virtual mapping and guidance system alerts a surgeon of a potential collision between two or more objects on the surgical field. 
     
     
         7 . The real-time virtual mapping and guidance system for use in laparoscopic surgeries of  claim 1  further comprising fiducial markers used to identify and locate objects in the surgical field. 
     
     
         8 . The real-time virtual mapping and guidance system for use in laparoscopic surgeries of  claim 1  wherein the at least one display comprises at least one augmented reality headset. 
     
     
         9 . The real-time virtual mapping and guidance system for use in laparoscopic surgeries of  claim 1  wherein the at least one display shows additional information such as a patient's vital signs. 
     
     
         10 . A method for mapping and guidance of laparoscopic surgeries in real-time comprising:
 collecting visual and location data of at least a portion of the surgical field;   analyzing said visual and location data to generate a virtual map of at least a portion of the surgical field;   displaying said virtual map.   
     
     
         11 . The method for mapping and guidance of laparoscopic surgeries in real-time of  claim 10  wherein the virtual map is a three-dimensional virtual map. 
     
     
         12 . The method for mapping and guidance of laparoscopic surgeries in real-time of  claim 10  wherein the virtual map comprises the location and orientation of one or more laparoscopic tools. 
     
     
         13 . The method for mapping and guidance of laparoscopic surgeries in real-time of  claim 12  wherein the virtual map further comprises the location and orientation of one or more organs inside a patient's body cavity. 
     
     
         14 . The method for mapping and guidance of laparoscopic surgeries in real-time of  claim 10  wherein the visual and location data is collected by at least one camera, LIDAR sensor, gyroscope, accelerometer, magnetometer, GPS device, RFID device, or ball bearing type rolling sensor. 
     
     
         15 . The method for mapping and guidance of laparoscopic surgeries in real-time of  claim 10  wherein the step of displaying said virtual map comprises displaying said virtual map on at least one augmented reality headset. 
     
     
         16 . The method for mapping and guidance of laparoscopic surgeries in real-time of  claim 10  further comprising the step of monitoring said virtual map and alerting a surgeon of a potential collision between two or more objects on the surgical field. 
     
     
         17 . The method for mapping and guidance of laparoscopic surgeries in real-time of  claim 10  further comprising the step of displaying a patient's vital sign.