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 |
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.
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