Systems and methods for magnetic sensing and docking with a trocar

Abstract

A trocar (1) has a pipe part (11) and a stowable camera (17). The pipe part (11) has an opening (13) on the side surface thereof. A wiper blade (21) is fixed to the trocar (1) tip side end of the opening (13). The camera (17) is rotatably fixed to the pipe part (11) and extends to the outside of the pipe part (11) as a result of being impelled by a torsion spring (22). When a surgeon manipulates a switching mechanism (16), the camera (17), against to the impelling by the torsion spring (22), passes through the opening (13) and rotates into the pipe part (11). When the surgeon releases the switching mechanism (16), the torsion spring (22) rotates the camera (17) to the outside of the pipe (11) via an opening (13). When the camera (17) rotates, the lens of the camera (17) slides over the wiper blade (21). At this time, the wiper blade (21) removes clouding and organic matter from the lens.

Dependencies are inferred from the claim text.