US 11,723,517 B2
Wiring of trocar having movable camera and fixed position sensor
Yehuda Algawi, Binyamina (IL); Assaf Govari, Haifa (IL); Ilya Sitnitsky, Nahariya (IL); and Gili Attias, Haifa (IL)
Assigned to Biosense Webster (Israel) Ltd., Yokneam (IL)
Filed by BIOSENSE WEBSTER (ISRAEL) LTD., Yokneam (IL)
Filed on Dec. 31, 2019, as Appl. No. 16/731,494.
Prior Publication US 2021/0196105 A1, Jul. 1, 2021
Int. Cl. A61B 1/00 (2006.01); A61B 1/05 (2006.01); A61B 1/06 (2006.01); A61B 1/313 (2006.01); A61B 5/06 (2006.01); A61B 17/34 (2006.01)
CPC A61B 1/00064 (2013.01) [A61B 1/00045 (2013.01); A61B 1/00066 (2013.01); A61B 1/00124 (2013.01); A61B 1/00128 (2013.01); A61B 1/00154 (2013.01); A61B 1/053 (2013.01); A61B 1/0684 (2013.01); A61B 1/313 (2013.01); A61B 5/062 (2013.01); A61B 5/066 (2013.01); A61B 17/3423 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A medical apparatus, comprising:
(a) a trocar for insertion into an anatomical structure of a patient, the trocar comprising:
(i) a cannula having a longitudinal axis;
(ii) a position sensor, fitted inside the cannula such that the position sensor is fixed against movement relative to the cannula;
(iii) a camera, coupled to a movable element, which is fitted inside the cannula and configured to be moved along the longitudinal axis for moving the camera along the cannula;
(b) a control handle, coupled to a proximal end of the movable element and configured to move the movable element and the camera;
(c) at least a first electrical wire, which is coupled between the control handle and the camera; and
(d) at least a second electrical wire, which is coupled between the control handle and the position sensor, and has a slack configured to compensate for a motion of the camera while the position sensor and the control handle are stationary relative to each other.