US 11,911,116 B2
Virtual reality surgical camera system
Eric Kline, Malden, MA (US); Sammy Khalifa, Medford, MA (US); Marshall Wentworth, Waltham, MA (US); and Eric Van Albert, Somerville, MA (US)
Assigned to Vicarious Surgical Inc., Waltham, MA (US)
Filed by Vicarious Surgical Inc., Waltham, MA (US)
Filed on Jul. 28, 2022, as Appl. No. 17/876,238.
Application 17/876,238 is a continuation of application No. 16/130,734, filed on Sep. 13, 2018, granted, now 11,583,342.
Claims priority of provisional application 62/558,583, filed on Sep. 14, 2017.
Prior Publication US 2022/0370156 A1, Nov. 24, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 17/34 (2006.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); G02B 7/00 (2021.01); G02B 27/01 (2006.01); H04N 13/239 (2018.01); H04N 13/279 (2018.01); H04N 13/344 (2018.01); H04N 13/366 (2018.01); A61B 17/00 (2006.01); A61B 34/30 (2016.01); A61B 90/30 (2016.01); A61B 90/50 (2016.01); H04N 13/327 (2018.01); H04N 23/50 (2023.01)
CPC A61B 34/20 (2016.02) [A61B 17/34 (2013.01); A61B 17/3415 (2013.01); A61B 34/71 (2016.02); A61B 34/76 (2016.02); A61B 90/36 (2016.02); A61B 90/37 (2016.02); G02B 7/002 (2013.01); G02B 27/017 (2013.01); H04N 13/239 (2018.05); H04N 13/279 (2018.05); H04N 13/344 (2018.05); H04N 13/366 (2018.05); A61B 2017/00398 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2072 (2016.02); A61B 34/30 (2016.02); A61B 2034/304 (2016.02); A61B 2090/306 (2016.02); A61B 2090/309 (2016.02); A61B 2090/365 (2016.02); A61B 2090/371 (2016.02); A61B 2090/372 (2016.02); A61B 2090/502 (2016.02); A61B 2560/0266 (2013.01); A61B 2562/166 (2013.01); H04N 13/327 (2018.05); H04N 23/555 (2023.01); H04N 2213/001 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A camera assembly comprising:
a camera support tube having a distal end and a proximal end, the distal end of the camera support tube configured to pass at least partially through a trocar; and
a stereoscopic camera assembly operably coupled to the distal end of the camera support tube, the stereoscopic camera assembly comprising:
a first camera module having a first optical axis;
a second camera module having a second optical axis;
a main camera body mount operably coupled to the first camera module and the second camera module;
a main camera body support operably coupled to the distal end of the camera support tube and to the main camera body mount, wherein the main camera body support defines an electrical component cavity; and
an actuation system comprising:
a pitch actuation assembly housed in the main camera body mount and configured to actuate the first camera module and the second camera module about a pitch axis with respect to the main camera body mount; and
a yaw actuation assembly configured to actuate the first camera module and the second camera module about a yaw axis with respect to the main camera body support.