CANNULA ASSEMBLY KIT

Abstract

The invention comprises a cannula assembly kit for a trocar suitable for use in minimally invasive surgery. The cannula assembly kit comprises a cannula and a pattern generating member. The cannula has a distal end and a proximal end and comprises a flange portion at its proximal end and an elongate cannula shaft portion extending from said flange portion to its distal end and an access port through the flange portion and the elongate cannula shaft portion, such that a surgical tool of a surgical instrument can be inserted through the access port. The pattern generating member comprises a pattern light source and a projector arranged such that the pattern light source is operatively connected to the projector for projecting a light pattern. At least the projector of the pattern generating member is configured for being at least temporarily fixed to the cannula shaft portion of the cannula.

Claims

1. A cannula assembly kit comprising a cannula and a pattern generating member, said cannula has a distal end and a proximal end and an elongate cannula shaft portion extending from said proximal end to said distal end and an access port through said elongate cannula shaft portion, wherein said pattern generating member comprises a pattern light source and a projector, wherein the pattern light source is operatively connected to the projector for projecting a light pattern, at least said projector of said pattern generating member is configured for being at least temporarily fixed to said cannula shaft portion of said cannula.

2. The cannula assembly kit of claim 1, wherein said projector of said pattern generating member is configured for being fixed to said cannula shaft portion of said cannula to provide that at least a portion of said light pattern is projected in a distal direction.

3. The cannula assembly kit of claim 1, wherein said projector of said pattern generating member is configured for being fixed at the distal end of said cannula shaft portion.

4. The cannula assembly kit of claim 1, wherein said distal end of said cannula shaft portion has a distal access port exit and comprises an end edge in the vicinity of said distal access port exit, said projector of said pattern generating member is configured for being fixed at said end edge, preferably arranged for projecting said light pattern in a distal direction.

5. The cannula assembly kit of claim 1, wherein said cannula assembly kit comprises two or more pattern generating members.

6. The cannula assembly kit of claim 1, wherein said cannula shaft portion comprises an access section adapted to be inserted through a surgical incision for allowing a surgical instrument to be inserted through said access port, wherein at least said access section is substantially rigid.

7. The cannula assembly kit of claim 1, wherein said pattern generating member is detachable from said cannula shaft portion, said pattern generating member being configured for being temporarily fixed to said cannula shaft portion by a click lock, a sleeve lock, a screw lock, a turn lock, a wedge lock or combinations thereof.

8. The cannula assembly kit of claim 1, wherein at least said projector of said pattern generating member is incorporated in or mounted to a sleeve.

9. The cannula assembly kit of claim 8, wherein the sleeve constitutes an outer and/or an inner sea of the cannula.

10. The cannula assembly kit of claim 1, wherein said cannula comprises a mounting through hole for mounting said projector to provide that the projector can be mounted at the distal end of said cannula shaft portion.

11. The cannula assembly kit of claim 1, wherein said projector of said pattern generating member comprises a phase optic element, a spatial light modulator, a multi-order diffractive lens, a holographic lens, a Fresnel lens, a mirror arrangement and/or a computer regulated optical element

12. The cannula assembly kit of claim 1, wherein said projector of said pattern generating member comprises a micro-electro-mechanical element.

13. The cannula assembly kit of claim 1, wherein said projector of said pattern generating member is configured for emitting a pattern comprising a plurality of light dots, an arch shape, ring or semi-ring shaped lines, a plurality of angled lines and/or a coded structured light configuration.

14. The cannula assembly kit of claim 1, wherein said projector of said pattern generating member is configured for emitting a pattern comprising a combination of lines and dots in a coded structured light configuration.

15. The cannula assembly kit of claim 1, wherein said cannula comprises two or more access ports through said flange portion and said cannula shaft portion shaft portion.

16. A trocar assembly kit comprising a cannula assembly kit and an obturator, said cannula assembly kit comprises a cannula and a pattern generating member, said cannula has a distal end and a proximal end with a flange portion and an elongate cannula shaft portion extending from said proximal end to said distal end and an access port through said elongate cannula shaft portion, wherein said pattern generating member comprises a pattern light source and a projector, wherein the pattern light source is operatively connected to the projector for projecting a light pattern, at least said projector of said pattern generating member is configured for being temporarily or permanently fixed to said cannula shaft portion of said cannula, said obturator has a distal end and a proximal end and comprises a head portion at its proximal end, a tip portion at its distal end and a rigid obturator shaft portion extending between said head portion and said tip portion, wherein said cannula and said obturator are correlated to each other to provide that said tip portion can be inserted through the access port and said head portion can be temporally fixed to said flange portion.

17. The trocar assembly kit of claim 16, wherein said obturator comprises a projector protection arrangement correlated with the projector of the cannula assembly kit to at least partly cover the projector when the cannula assembly kit and the obturator are in an assembled state.

18. The trocar assembly kit of claim 17, wherein said projector protection arrangement is arranged to be pivotally folded from a first position where it is at least partly covering the projector to a second position where it at least partly is passed into a cavity of the obturator.

19. The trocar assembly kit of claim 17, wherein said projector protection arrangement is arranged to be radially displaced from a first position where it is at least partly covers the projector to a second position where it at least partly is passed into a cavity of the obturator.

20. A minimally invasive surgery system comprising a cannula assembly kit, a surgical instrument, a camera and a computer system, the cannula assembly kit comprises a cannula and a pattern generating member, said cannula has a distal end and a proximal end with a flange portion and an elongate cannula shaft portion extending from said proximal end to said distal end and an access port through said elongate cannula shaft portion, wherein said pattern generating member comprises a pattern light source and a projector, wherein the pattern light source is operatively connected to the projector for projecting a light pattern, at least said projector of said pattern generating member is temporarily or permanently fixed to said cannula shaft portion of said cannula.

21. The minimally invasive surgery system of claim 20, wherein the cannula comprises said camera and/or the system comprises a scope comprising said or an additional camera, said scope being selected from an endoscope, a laparoscope anarthroscope, a thoracoscope, a gastroscope, a colonoscope, a laryngoscope, a broncoscope, a cystoscope or a combination thereof.

22. The minimally invasive surgery system of claim 20, wherein the computer system is in data communication with said camera to receive image data from said camera, said computer system is programmed to determining real time topography data of a surface reflecting the light pattern emitted by the cannula assembly kit and/or to determining real time contours of a surface reflecting the light pattern emitted by the cannula assembly kit.

23. The minimally invasive surgery system of claim 22, wherein the computer system is programmed to determining a spatially position and orientation of the projector.

24. The minimally invasive surgery system of claim 20, wherein the computer is configured for wide baseline operation comprising a wide angle between the camera and the cannula assembly.

25. The minimally invasive surgery system of claim 20, wherein the surgical instrument forms part of a robot or is adapted for being maneuvered by a robot and the computer system is configured to transmitting the determined data to said robot.

26. The minimally invasive surgery system of claim 23, wherein the surgical instrument forms part of a robot or is adapted for being maneuvered by a robot and the computer system is configured for determining a spatially position of the instrument and based at least partly on said real time topography data and said spatially position of the instrument to control the robot to perform movements of the instrument.

27. A method of determining real time contours of a surgery target site comprising providing an access port to the surgery target site comprising providing an incision through a skin area inserting a cannula assembly kit of claim 1, inserting a surgical instrument through the access port, inserting a camera element through the access port or through an additional access port to the surgery target site, providing that the projector of the cannula assembly kit is emitting a light pattern, recording image data of the light pattern reflected from said surgery target site by said camera, and determining said real time contours of the surgery target site reflecting the light pattern emitted by the cannula assembly kit.

Description

BRIEF DESCRIPTION OF EXAMPLES

[0184] Preferred embodiments of the invention will be further described with reference to the drawings.

[0185] FIG. 1a is a schematic view of an embodiment of a cannula assembly kit.

[0186] FIG. 1b is a schematic view of an embodiment of an obturator adapted to be used together with the cannula assembly kit of FIG. 1a.

[0187] FIG. 1c and FIG. 1d are schematic views of a trocar assembly kit comprising the cannula assembly kit of FIG. 1 and the obturator of FIG. 2 is partly or fully in an assembled state.

[0188] FIG. 2 is a schematic view of an embodiment of a cannula assembly kit, where the shaft portion of the cannula comprises a mounting through hole through which the projector has been mounted.

[0189] FIG. 3 is a schematic view of an embodiment of a cannula assembly kit comprising a sleeve.

[0190] FIG. 4 is a schematic view of an embodiment of a cannula assembly kit with a relatively large flange portion for comprising the pattern light source.

[0191] FIG. 5 is a schematic view of a distal end portion of an assembled trocar assembly kit, where the obturator comprises a projector protection arrangement.

[0192] FIG. 6 is a schematic view of an embodiment of a cannula assembly kit during use in a surgical procedure seen from outside the body cavity.

[0193] FIG. 7 is a schematic view of an embodiment of a cannula assembly kit during use in a surgical procedure seen in a cross-sectional view through the body cavity.

[0194] FIG. 8 is a schematic view of an embodiment of a cannula assembly kit configured for emitting a bullseye shaped pattern.

[0195] FIG. 9 is a schematic view of an embodiment of a cannula assembly kit with a bent cannula shaft portion.

[0196] FIG. 10 is a schematic view of an embodiment of a cannula assembly kit where the cannula comprises two cannula shaft portions and one cannula flange portion.

[0197] FIG. 11 is a schematic view of another cannula assembly kit where the cannula comprises two cannula shaft portions and one cannula flange portion.

[0198] FIG. 12 is a schematic view of an embodiment of a cannula assembly kit where the cannula comprises two cannula flange portions and one cannula shaft portion.

[0199] FIG. 13 is a schematic illustration of an embodiment of a minimally invasive surgery system of the invention where the projected light pattern comprises a coded structured light configuration comprising a plurality of light dots with different sizes.

[0200] FIG. 14 is a schematic illustration of an embodiment of a minimally invasive surgery system of the invention where the projected light pattern comprises a coded structured light configuration comprising a plurality of light dots with different shapes and sizes.

[0201] FIG. 15 is a schematic illustration of an embodiment of a minimally invasive surgery system of the invention where the projected light pattern comprises a crosshatched pattern

[0202] FIG. 16 is a schematic illustration of an embodiment of a minimally invasive surgery system of the invention where the projected light pattern comprises a plurality of parallel lines.

[0203] The figures are schematic and are not drawn to scale and may be simplified for clarity. Throughout, the same reference numerals are used for identical or corresponding parts.

[0204] FIG. 1a illustrates an embodiment of a cannula assembly kit of the invention. The cannula assembly kit comprises a cannula 1 and a pattern generating member wherein only the projector 2 is shown. The cannula has a distal end D and a proximal end P and comprises a flange portion 4 at its proximal end and an elongate cannula shaft portion 3 extending from the flange portion 4 to its distal D end and an access port A through the flange portion 4 and the elongate cannula shaft portion 3, such that a surgical tool of a surgical instrument can be inserted through the access port. The pattern generating member comprises a not shown pattern light source and a projector 2 at least temporarily fixed to the cannula shaft portion 3 of the cannula. The cannula flange portion 4 comprises an insufflation port 5 for insufflating the body cavity.

[0205] The obturator and the cannula assembly kit of FIG. 1 are correlated to each other. The obturator 9 shown in FIG. 1b has a distal end D and a proximal end P and comprises a head portion 6 at its proximal end, a tip portion 8 at its distal end and a rigid obturator shaft portion 7 extending between said head portion 6 and said tip portion 8. The tip portion can be bladed or non-bladed.

[0206] The obturator of FIG. 1b and the cannula assembly kit of FIG. 1 are correlated to each other such that the obturator can be inserted into the access port A of the cannula 1. In FIG. 1c the obturator 9 is partly inserted into the access port A of the cannula 1. In FIG. 1d the obturator 9 is fully inserted into the access port A of the cannula 1 to thereby assemble the trocar assembly kit.

[0207] The cannula assembly kit shown in FIG. 2 comprises a cannula and a pattern generating member wherein only the projector 12 is shown. The cannula comprises a flange portion 14 and an elongate cannula shaft portion 13 extending from the flange portion 14 to its distal end and an access port A. At its distal end the cannula shaft portion 13 has an access port exit 13a and comprises an end edge 13b in the vicinity of said distal access port exit 13a.

[0208] The shaft portion 13 of the cannula comprises a mounting through hole 12a indicated on the drawing with dotted lines. The projector 12 has been mounted via the mounting through hole 12a and a not shown optical fiber extends through the mounting through hole 12a for transmitting light to the projector 12.

[0209] The cannula assembly kit shown in FIG. 3 comprises a cannula and a pattern generating member wherein only the projector 22 is shown. The cannula comprises a flange portion 24 and an elongate cannula shaft portion 23 extending from the flange portion 24 to its distal end and an access port A.

[0210] The shaft portion 23 and the flange portion 24 are covered by a sleeve 26 which is mounted to the cannula. The projector 22 is mounted to or integrated in the sleeve 26 and the sleeve also comprises a fiber covering line 22a comprising a not shown optical fiber arranged for transmitting light to the projector 22.

[0211] The cannula assembly kits shown in FIG. 4 comprises a flange portion 34 and an elongate cannula shaft portion 33 extending from the flange portion 34 to its distal end and an access port A. The cannula assembly kit also comprises a not shown pattern generating member. The rays R indicate that the not shown projector is positioned at the distal end of the cannula shaft portion 33. The cannula flange portion 34 is relatively large such that a not shown light source and/or battery can be incorporated into the cannula flange portion 34.

[0212] The distal end portion of an assembled trocar assembly kit shown in FIG. 5 comprises distal end portions of the correlated cannula assembly kit and obturator. The cannula assembly kit comprises a cannula shaft portion 43 and a projector 42 arranged for projecting a light pattern. The obturator comprises a rigid obturator shaft portion 47 and a tip portion 48. The obturator further comprises a projector protection arrangement 47a correlated with the projector 42 of the cannula assembly kit to at least partly cover the projector 42, such that the projector is at least partly projected during the insertion during surgery. In a not shown modified embodiment the projector protection arrangement is shaped to align with the shape of the tip portion of the obturator such that there will be a more gradually increase of the diameter of the assembled trocar assembly kit from the tip portion of the obturator to the cannula shaft portion of the cannula assembly kit.

[0213] When the obturator is withdrawn from the access port of the cannula assembly kit, the projector protection arrangement 47a will at least partly be passed into a cavity of the obturator, such that the projector protection arrangement 47a is not blocking for the withdrawal. The projector protection arrangement 47a may for example be pivotally folded into a cavity of the obturator, by folding towards the tip portion 48.

[0214] FIG. 6 and FIG. 7 show a cannula assembly kit in use during a surgical procedure. The figures show a body part of a patient in surgery, where an incision I is made through the skin 50 of the patient, the cannula assembly kit comprises a shaft portion 53 and a flange portion 54, and the shaft portion 53 is inserted through the incision I. The cannula assembly kit comprises a pattern generating member comprising a projector from where a light pattern P in the form of rays R of light is emitted.

[0215] A surgical instrument comprising a handle portion 56, a body portion 57 and a surgical tool 58 is inserted through the access port of the cannula assembly kit and the pattern P is projected onto a surgical site 60.

[0216] It can be seen that when the surgical tool 58 of surgical instrument is subjected to a lateral movement and/or tilting movement the pattern will be moved in a correlated way, thereby providing information to the operator.

[0217] The pattern can for example be recorded by an image recorder on a scope inserted via the same or another incision through the skin.

[0218] The cannula assembly kit 61 shown in FIG. 8 comprises a not shown projector operatively connected to a light source and configured for emitting light rays R arranged to form a bullseye shaped pattern P. The various rings of the bullseye shaped pattern P could for example have different wavelength profile.

[0219] The cannula assembly kit shown in FIG. 9 comprises a cannula and a pattern generating member wherein only the projector 72 is shown. The cannula comprises a flange portion 74 and an elongate cannula shaft portion 73 extending from the flange portion 74 to its distal end and an access port A. The cannula shaft portion 73 is bent in a soft curve to thereby make is easier for an operator to insert the cannula shaft portion 73 through an incision of a patient. The cannula shaft portion 73 is for example pre-bent to the shown bending curve and is further bendable or flexible i.e. in unloaded condition the cannula shaft portion 73 is bent. In another embodiment the cannula shaft portion 73 is substantially rigid in the bent position.

[0220] At its distal end the cannula shaft portion 73 comprises an end edge 73b and the projector 72 is mounted at the end edge 73b and a not shown optical fiber is arranged to guide light along a channel 72a in the wall of the cannula shaft portion 73.

[0221] The cannula assembly kit shown in FIG. 10 comprises a cannula and at least one pattern generating member wherein only the two projectors 82 are shown. The two projectors 82 can be of a common pattern generating member or they can be of separate pattern generating members.

[0222] The cannula comprises a flange portion 84 and a double cannula shaft portion 83, 83a, 83b. The double cannula shaft portion 83, 83a, 83b comprises a common shaft portion section 83 and two branch shaft portion sections 83a and 83b each comprising a distal access port section A, such that the cannula has a common access port section through the flange portion 84 and through the common shaft portion section 83 and two separate distal access port sections through said respective branch shaft portion sections 83a and 83b.

[0223] The cannula assembly kit shown in FIG. 11 comprises a cannula and at least one pattern generating member wherein only the two projectors 92 are shown. The two projectors 92 can be of a common pattern generating member or they can be of separate pattern generating members.

[0224] The cannula comprises a flange portion 94 and two cannula shaft portions 93a, 93b providing two access ports through the cannula flange portion 94.

[0225] The cannula assembly kit shown in FIG. 12 comprises a cannula and at least one pattern generating member wherein only the projector 102 is shown.

[0226] The cannula comprises two flange portions 104a, 104b and a double cannula shaft portion 104, 104a, 104b. The double cannula shaft portion 104, 104a, 104b comprises a common shaft portion section 104 and two branch shaft portion sections 104a and 104b. The respective branch shaft portion sections 104a and 104b are connected to the respective flange portions 104a, 104b and are merged in the common shaft portion section 104 in the distal end section of the cannula.

[0227] The minimally invasive surgery system shown in the respective FIGS. 13, 14, 15 and 16 comprises a cannula assembly kit 110, a surgical instrument 115, a camera 116 and a computer system 118.

[0228] The cannula assembly kit 110 comprises a flange portion 114, an elongate cannula shaft portion 117 and a projector 112 for projecting a light pattern at its distal end. An access port is provided via the cannula shaft portion 117.

[0229] The surgical instrument 115 comprises its actual operation tool 115a at its distal end. The distal end comprising the operation tool 115a is inserted through the access port of the cannula assembly kit 110.

[0230] The projector 112 projects a light pattern towards a distally arranged surface 111 and the reflected light pattern 113 is recorded by the camera 116. In use this distally arranged surface 111 will be a surgery site which may be very uneven as described above.

[0231] As the surgical instrument 115 is moved the cannula assembly kit will be moved accordingly and thereby also the projector 112 will be moved and the reflected pattern 113 will change accordingly at least when the surgical instrument 115 is subjected to tilting movements.

[0232] The camera records the reflected light and generates recorded image data. The recorded image data is transmitted to the computer system 118.

[0233] In the shown embodiment the computer system comprises a calibration unit for calibration of the camera, a processing unit comprising algorithms for 3D data set generation and decoding of the recorded and calibrated image data, a processing unit for determine topography data in real time and a PC for storing and/or displaying the determined topography data. The various units of the computer system 118 may be integrated in a common hardware box.

[0234] As described above the surgical instrument 115 may advantageously form part of a robot for performing the minimally invasive surgery and the computer system may provide feedback to the robot and/or at least a part of the computer system may be an integrated part of the robot.

[0235] In FIG. 17 the projected light pattern comprises a coded structured light configuration comprising a plurality of light dots with different sizes.

[0236] In FIG. 14 the projected light pattern comprises a coded structured light configuration comprising a plurality of light dots with different shapes and sizes.

[0237] In FIG. 15 the projected light pattern comprises crosshatched pattern

[0238] In FIG. 16 the projected light pattern comprises a plurality of parallel lines.