Page 389 - Flexible Robotics in Medicine

382 Chapter 16

16.5.3 US6464631 B1 endoscope with pannable camera

16.5.3.1 Key claims
16. An endoscope with a distal tubular shaft of small diameter, in which at least one
longitudinally extending device in the form of light-guiding fiber bundle is arranged;
an objective and a video camera being arranged in a cross-sectional area of the tubular
shaft region, the video camera being arranged to be rotatable about its viewing
direction by means of a rotation device.
2. The endoscope in claim 1 wherein said drive shaft has a first end connected to said
motor and a second, opposite end connected to a said video camera.

16.5.3.2 Assessment
P.A.T.S consists of a rotation mechanism as well but is done so by cables, instead of a
shaft, rotating it wherein a stepper motor serves as a rotation device, which is like the
patent, disposed proximally of the endoscopic camera. Similarly, said cable has a first
end connected to the said stepper motor and a second, opposite end connected to the
endoscopic camera. Hence there is possibly some slight infringement in these elements.
However, the endoscopic camera in P.A.T.S is not arranged in an inner tube with a
distal window but fixed to a ring and exposed. Additionally, our system comprises a
tilting mechanism driven by servo motors by pulling the cables, which is not present in
this patent.

16.5.4 US20140012080 A1 endoscopic camera and the endoscopic device

16.5.4.1 Key claims
16. An endoscopic camera comprising a cylindrical case having an oblique top end
portion; a camera head provided at the top end portion of the case; a spherical
cover which is mounted on the top end portion of the case to cover at least a part
of the camera head and which has a joint portion connected to an inside of the
case; a rotation driving unit adapted to rotate the camera head around a specific
rotating shaft.
2. The endoscopic camera according to claim 1 wherein the endoscopic camera includes
a plate-like belt and which has both end portions fixed to the camera head so that the
camera head is retained while being sandwiched from both sides, and the rotation
driving unit is provided inside the rigid case at a position different from that of the
camera head and is adapted to rotate the camera head around the rotating shaft by
pulling one end portion of the belt.