Device and method for assisting laparoscopic surgery rule based approach
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G06F-019/00
A61B-017/00
A61B-001/00
A61B-001/313
G05B-015/02
A61B-001/04
A61B-001/06
A61B-019/00
출원번호
US-0752947
(2015-06-28)
등록번호
US-9504456
(2016-11-29)
발명자
/ 주소
Frimer, Motti
Sholev, Mordehai
Pfeffer, Yehuda
출원인 / 주소
M.S.T. MEDICAL TECHNOLOGIES LTD
인용정보
피인용 횟수 :
3인용 특허 :
10
초록▼
A surgical controlling system comprising: at least one location estimating means to real-time locate the 3D spatial position of at least one surgical tool; at least one movement detection means in communication with a movement database and with the location estimating means; and a controller, which
A surgical controlling system comprising: at least one location estimating means to real-time locate the 3D spatial position of at least one surgical tool; at least one movement detection means in communication with a movement database and with the location estimating means; and a controller, which controls the position of at least one surgical tool, in communication with a movement database, a control database and the movement detection means. The movement database stores the 3D spatial position of each surgical tool at the present time and at at least one previous time; a tool has moved if its present position is different from its previous position. The control database stores rules to identify a movement of a tool as either an ALLOWED movement or a RESTRICTED movement.
대표청구항▼
1. A surgical controlling system, comprising: a. at least one surgical tool configured to be insertable into a surgical environment of a human body for assisting a surgical procedure;b. at least one location estimating means configured to real-time locate the 3D spatial position of said at least one
1. A surgical controlling system, comprising: a. at least one surgical tool configured to be insertable into a surgical environment of a human body for assisting a surgical procedure;b. at least one location estimating means configured to real-time locate the 3D spatial position of said at least one surgical tool at any given time t;c. at least one movement detection means communicable with a movement's database and with said location estimating means; said movement's database is configured to store said 3D spatial position of said at least one surgical tool at time tf and at time to; where tf>to; said movement detection means is configured to detect movement of said at least one surgical tool if the 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time to; and,d. a controller having a processing means communicable with a controller's database, said controller configured to control the spatial position of said at least one surgical tool; said controller's database is in communication with said movement detection means; wherein a predetermined set of rules is storable in said controller's database, according to which ALLOWED and RESTRICTED movements of said at least one surgical tool are determinable; for each detected movement by said movement detection means, determination of said at least one detected movement as either an ALLOWED movement or as a RESTRICTED movement being according to said predetermined set of rules further wherein there is associated a weighting function with each rule in said predetermined set of rules, said determination of said movement as either an allowed movement or a restricted movement being according to at least one said rule, selection of said at least one rule being by means of said weighting function. 2. The surgical controlling system according to claim 1, wherein said predetermined set of rules comprises at least one rule selected from a group consisting of: most used tool rule, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, environmental rule, operator input rule, proximity rule; collision prevention rule, history-based rule, tool-dependent allowed and RESTRICTED movements rule, preferred volume zone rule, preferred tool rule, movement detection rule, tagged tool rule, change of speed rule and any combination thereof. 3. The surgical controlling system according to claim 1, wherein at least one of the following is being held true (a) said at least one location estimating means comprises at least one endoscope configured to acquire real-time images of said surgical environment within said human body; and at least one surgical instrument spatial location software configured to receive said real-time images of said surgical environment and to estimate said 3D spatial position of said at least one surgical tool; (b) said at least one location estimating means are comprises (i) at least one element selected from a group consisting of optical imaging means, radio frequency transmitting and receiving means, at least one mark on said at least one surgical tool and any combination thereof; and, (ii) at least one surgical instrument spatial location software configured to estimate said 3D spatial position of said at least one surgical tool by means of said element; (c) said at least one location estimating means are an interface subsystem between a surgeon and the at least one surgical tool, the interface subsystem comprises: (i) at least one array comprising N regular or pattern light sources, where N is a positive integer; (ii) at least one array comprising M cameras, each of the M cameras, where M is a positive integer; (iii) optional optical markers and means for attaching the optical marker to the at least one surgical tool; and; (iv) a computerized algorithm operable via the controller, the computerized algorithm configured to record images received by each camera of each of the M cameras and to calculate therefrom the position of each of the tools, and further configured to provide automatically the results of the calculation to the human operator of the interface. 4. A method for assisting an operator to perform a surgical procedure, comprising steps of: a. providing a surgical controlling system, comprising: (i) at least one surgical tool; (ii) at least one location estimating means; (iii) at least one movement detection means; and, (iv) a controller having a processing means communicable with a controller's database;b. inserting said at least one surgical tool into a surgical environment of a human body;c. real-time estimating the location of said at least one surgical tool within said surgical environment at any given time t; and,d. detecting if there is movement of said at least one surgical tool if the 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time to;e. controlling the spatial position of said at least one surgical tool within said surgical environment by means of said controller; wherein said method additionally comprises the following steps: (a) storing a predetermined set of rules in at least one controller's database in communication with said controller, said predetermined set of rules comprising ALLOWED and RESTRICTED movements of said at least one surgical tool; and (b) determining, for each said detected movement, said detected movement being either an ALLOWED movement or as a RESTRICTED movement according to said predetermined set of rules further wherein there is associated a weighting function with each rule in said predetermined set of rules, said determination of said movement as either an allowed movement or a restricted movement being according to at least one said rule, selection of said at least one rule being by means of said weighting function. 5. The method according to claim 4, further comprising a step of selecting said predetermined set of rules from a group consisting of: most used tool, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, an environmental rule, an operator input rule, a proximity rule; a collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, a history-based rule, a tool-dependent allowed and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof. 6. The method according to claim 4, wherein at least one of the following is being held true (a) said system additionally comprising an endoscope; said endoscope is configured to provide real-time image of said surgical environment; (b) at least one of said surgical tools is an endoscope configured to provide real-time image of said surgical environment. 7. The method according to claim 6, additionally comprising steps of (i) providing n 3D spatial positions in said controller's database, n is an integer greater than or equal to 2, the combination of all of said n 3D spatial positions providing a predetermined field of view; and (b) upon detection of movement of at least one of said surgical tools by said detection means, relocating said endoscope by means of said field of view rule. 8. The method according to claim 4, wherein at least one of the following is being held true (a) said at least one location estimating means comprises at least one endoscope configured to acquire real-time images of a surgical environment within said human body; and at least one surgical instrument spatial location software configured to receive said real-time images of said surgical environment and to estimate said 3D spatial position of said at least one surgical tool; (b) said at least one location estimating means are comprises (i) at least one element selected from a group consisting of optical imaging means, radio frequency transmitting and receiving means, at least one mark on said at least one surgical tool and any combination thereof; and, (ii) at least one surgical instrument spatial location software configured to estimate said 3D spatial position of said at least one surgical tool by means of said element; (c) said at least one location estimating means are an interface subsystem between a surgeon and the at least one surgical tool, the interface subsystem comprises: (i) at least one array comprising N regular or pattern light sources, where N is a positive integer; (ii) at least one array comprising M cameras, each of the M cameras, where M is a positive integer; (iii) optional optical markers and means for attaching the optical marker to the at least one surgical tool; and, (iv) a computerized algorithm operable via the controller, the computerized algorithm configured to record images received by each camera of each of the M cameras and to calculate therefrom the position of each of the tools, and further configured to provide automatically the results of the calculation to the human operator of the interface; and any combination thereof. 9. A surgical controlling system, comprising: a. at least one endoscope configured to provide real-time image of a surgical environment of a human body;b. at least one location estimating means configured to real-time locate the 3D spatial position of said at least one endoscope at any given time t;c. at least one movement detection means communicable with a movement's database and with said location estimating means; said movement's database is configured to store said 3D spatial position of said at least one endoscope at time tf and at time to; where tf>to; said movement detection means is configured to detect movement of said at least one endoscope if the 3D spatial position of said at least one endoscope at time tf is different than said 3D spatial position of said at least one endoscope at time to; and,d. a controller having a processing means communicable with a controller's database, said controller configured to control the spatial position of said endoscope; said controller's database is in communication with said movement detection means; wherein said controller's database comprises n 3D spatial positions; n is an integer greater than or equal to 2; a predetermined field of view is providable by the combination of all of said n 3D spatial positions; said field of view is maintainable by said controller by relocation of the 3D spatial position of said endoscope upon detection of movement by said detection means. 10. The surgical controlling system according to claim 9, wherein said relocation of the 3D position of said endoscope is by means of a field of view rule, said field of view rule storable in said controller's database.
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이 특허에 인용된 특허 (10)
Moll, Frederic H.; Rosa, David J.; Ramans, Andris D.; Blumenkranz, Stephen J.; Guthart, Gary S.; Niemeyer, Gunter D.; Nowlin, William C.; Salisbury, Jr., J. Kenneth; Tierney, Michael J.; Mintz, David, Arm cart for telerobotic surgical system.
Mintz, David; Morley, Tracey Ann; Walker, Theodeore Charles; Larkin, David Q; Hanuschik, Michael Lee, Indicator for tool state and communication in multi-arm robotic telesurgery and method of use.
Schlndorff Georg (Roetgen DEX) Msges Ralph (Mnchen DEX) Meyer-Ebrecht Dietrich (Aachen DEX) Moll Philip (Aachen DEX), Process and device for the reproducible optical representation of a surgical operation.
Nowlin,William C.; Guthart,Gary S.; Salisbury, Jr.,J. Kenneth; Niemeyer,Gunter D., Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery.
Hagag, Benny; Kang, Hyosig; Mozes, Alon; Odermatt, Daniel; Schmitz, Brian D., Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool.
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