US Patent 11478140 Wireless laparoscopic device with gimballed camera

A laparoscopic imaging apparatus has a shaft having a proximal end opposite a distal end, wherein the proximal end is configured for attachment to an actuator, wherein a longitudinal axis extends through the shaft, between the proximal and distal ends, wherein the distal end is configured for insertion into patient anatomy and for attachment of one or more laparoscopic tools, wherein at least a first laparoscopic tool at the distal end pivots on a first gimbal apparatus that is actuable, from the actuator at the proximal end of the shaft, to rotate the at least the first laparoscopic tool about the longitudinal axis of the shaft and, further, to rotate the at least the first laparoscopic tool about at least a second axis, orthogonal to the longitudinal axis.