최소 단어 이상 선택하여야 합니다.
최대 10 단어까지만 선택 가능합니다.
다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
NTIS 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
DataON 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Edison 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Kafe 바로가기국가/구분 | United States(US) Patent 등록 |
---|---|
국제특허분류(IPC7판) |
|
출원번호 | US-0816099 (2015-08-03) |
등록번호 | US-10028792 (2018-07-24) |
발명자 / 주소 |
|
출원인 / 주소 |
|
인용정보 | 피인용 횟수 : 0 인용 특허 : 7 |
A surgical controlling system comprising: means to real-time locate the 3D spatial position of at least one surgical tool insertable into a surgical environment of a body, in communication with a movement detection means and a movement database; and a controller in communication with a controller da
A surgical controlling system comprising: means to real-time locate the 3D spatial position of at least one surgical tool insertable into a surgical environment of a body, in communication with a movement detection means and a movement database; and a controller in communication with a controller database and the movement detection means. The movement database stores 3D spatial positions of surgical tools at times tf and t0; it has moved if its 3D spatial position at time tf differs from that at time t0. Rules stored in the controller database determine ALLOWED and RESTRICTED movements of surgical tools and are used to control the surgical tools' spatial positions. Rules include: most used tool, right tool, left tool, field of view, no fly zone, route, environmental, operator input, proximity, collision prevention, history-based, tool-dependent ALLOWED and RESTRICTED movement, preferred volume zone, preferred tool, movement detection, tagged tool, and change of speed rules.
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 a 3D spatial position of said at least one s
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 a 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 t0; where tf>t0; said movement detection means is configured to detect movement of said at least one surgical tool if said 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 said controller's database is configured to store a predetermined set of rules according to which ALLOWED movements and RESTRICTED movements of said at least one surgical tool are determinable, each detected movement by said movement detection means of said at least one surgical tool being determinable as either said ALLOWED movements or as said RESTRICTED movements according to said predetermined set of rules;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, 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;wherein said right tool rule is configured to determine said ALLOWED movements of said endoscope according to movement of a surgical tool positioned to right of said endoscope. 2. The surgical controlling system according to claim 1, wherein said system further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules. 3. The surgical controlling system according to claim 1, wherein said system is configured to provide an alert of said RESTRICTED movements of said at least one surgical tool; wherein said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. 4. 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 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 comprises an interface subsystem between an operator 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, where M is a positive integer; (iii) at least one optional optical marker and means for attaching the at least one optical marker to at least one of 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 the M cameras and to calculate therefrom a position of each of the at least one surgical tool, and further configured to provide automatically the results of the calculation to said operator. 5. 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 a 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 t0; where tf>t0; said movement detection means is configured to detect movement of said at least one surgical tool if said 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 said controller's database is configured to store a predetermined set of rules according to which ALLOWED movements and RESTRICTED movements of said at least one surgical tool are determinable, each detected movement by said movement detection means of said at least one surgical tool being determinable as either said ALLOWED movements or as said RESTRICTED movements according to said predetermined set of rules;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, 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;wherein said left tool rule is configured to determine said ALLOWED movements of said endoscope according to movement of a surgical tool positioned to left of said endoscope. 6. The surgical controlling system according to claim 5, wherein said system further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules. 7. The surgical controlling system according to claim 5, further wherein said system is configured to provide an alert of said RESTRICTED movements of said at least one surgical tool; wherein said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. 8. The surgical controlling system according to claim 5, 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 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 an operator 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 an operator. 9. 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 a 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 t0; where tf>t0; said movement detection means is configured to detect movement of said at least one surgical tool if said 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 said controller's database is configured to store a predetermined set of rules according to which ALLOWED movements and RESTRICTED movements of said at least one surgical tool are determinable, each detected movement by said movement detection means of said at least one surgical tool being determinable as either said ALLOWED movements or as said RESTRICTED movements according to said predetermined set of rules;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, 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;wherein said a tagged tool rule comprises means configured to tag at least one surgical tool within said surgical environment and to determine said ALLOWED movements of said endoscope to constantly track movement of said tagged surgical tool. 10. The surgical controlling system according to claim 9, wherein said system further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules. 11. The surgical controlling system according to claim 9, wherein said system is configured to provide an alert of said RESTRICTED movements of said at least one surgical tool; wherein said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. 12. The method according to claim 11, wherein at least one of the following is being held true (a) said route rule comprises a communicable database storing at least one predefined route in which said at least one surgical tool is configured to move within said surgical environment; said at least one predefined route comprises n 3D spatial positions of said at least one surgical tool; n is an integer greater than or equal to 2; said ALLOWED movements being movements in which said at least one surgical tool is located substantially in at least one of said n 3D spatial positions of said at least one predefined route, and said RESTRICTED movements being movements in which said location of said at least one surgical tool is substantially different from said n 3D spatial positions of said at least one predefined route; (b) said environmental rule comprises a communicable database; said communicable database configured to receive at least one real-time image of said surgical environment and is configured to perform real-time image processing of the same and to determine a 3D spatial position of hazards or obstacles in said surgical environment; said environmental rule is configured to determine said ALLOWED movements and said RESTRICTED movements according to said hazards or obstacles in said surgical environment, said RESTRICTED movements being movements in which said at least one surgical tool is located substantially in at least one of said n 3D spatial positions, and said ALLOWED movements being movements in which the location of said at least one surgical tool is substantially different from said n 3D spatial positions; said hazards or obstacles in said surgical environment are selected from a group consisting of tissue, a surgical tool, an organ, an endoscope and any combination thereof; (c) said proximity rule is configured to define a predetermined distance between at least two surgical tools; said ALLOWED movements being movements which are within the range or out of the range of said predetermined distance, and said RESTRICTED movements being movements which are out of the range or within the range of said predetermined distance; (d) said proximity rule is configured to define a predetermined angle between at least three surgical tools; said ALLOWED movements being movements which are within the range or out of the range of said predetermined angle, and said RESTRICTED movements being movements which are out of the range or within the range of said predetermined angle; (e) said collision prevention rule is configured to define a predetermined distance between said at least one surgical tool and an anatomical element within said surgical environment; said ALLOWED movements being movements which are in a range that is larger than said predetermined distance, and said RESTRICTED movements being movements which is in a range that is smaller than said predetermined distance; said anatomical element is selected from a group consisting of tissue, organ, another surgical tool and any combination thereof; (f) said no fly zone rule comprises a communicable database comprising n 3D spatial positions; n is an integer greater than or equal to 2; said n 3D spatial positions define a predetermined volume within said surgical environment, said predetermined volume being a no fly zone; said no fly zone rule is configured to determine said RESTRICTED movements if said movement is within said no fly zone and ALLOWED movements if said movement is outside said no fly zone, said RESTRICTED movements being movements in which at least one of said at least one surgical tool is located substantially in at least one of said n 3D spatial positions, and said ALLOWED movements being movements in which a location of at least one of said at least one surgical tool is substantially different from said n 3D spatial positions; (g) said most used tool rule comprises a communicable database counting the amount of movement of each of said surgical tools; said most used tool rule is configured to constantly position said endoscope to track movement of the most moved surgical tool; (h) said history-based rule comprises a communicable database storing each 3D spatial position of each of said surgical tool, each movement of each surgical tool being stored; said history-based rule is configured to determine said ALLOWED movements and said RESTRICTED movements according to historical movements of said at least one surgical tool, said ALLOWED movements being movements in which said at least one surgical tool is located substantially in at least one of said 3D spatial positions, and said RESTRICTED movements being movements in which the location of said at least one surgical tool is substantially different from said 3D spatial positions; (i) said tool-dependent ALLOWED and RESTRICTED movements rule comprises a communicable database; said communicable database is configured to store at least one predetermined characteristic of at least one of said surgical tool; said tool-dependent ALLOWED and RESTRICTED movements rule is configured to determine said ALLOWED movements and said RESTRICTED movements according to said at least one predetermined characteristic of said surgical tool; said ALLOWED movements being movements of said endoscope which track said at least one surgical tool having said at least one predetermined characteristic; said at least one predetermined characteristic of said at least one surgical tool is selected from a group consisting of: physical dimensions, structure, weight, sharpness, and any combination thereof; (j) said movement detection rule comprises a communicable database comprising real-time 3D spatial positions of said at least one surgical tool; said movement detection rule is configured to detect movement of said at least one surgical tool when a change in said 3D spatial positions is received, said ALLOWED movements being movements in which said endoscope is re-directed to focus on a moving surgical tool; (k) in said change of speed rule, said system is configured to constantly monitor distance between said endoscope's tip and at least one object within said surgical environment, speed of said endoscope being varied as a function of said distance; (l) and any combination thereof. 13. The surgical controlling system according to claim 9, 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 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 an operator 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 an operator. 14. 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 a 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 t0; where tf>t0; said movement detection means is configured to detect movement of said at least one surgical tool if said 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 said controller's database is configured to store a predetermined set of rules according to which ALLOWED movements and RESTRICTED movements of said at least one surgical tool are determinable, each detected movement by said movement detection means of said at least one surgical tool being determinable as either said ALLOWED movements or as said RESTRICTED movements according to said predetermined set of rules;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, 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;wherein said field of view rule comprises a communicable database comprising n 3D spatial positions; n is an integer greater than or equal to 2; a combination of all of said n 3D spatial positions provides a predetermined field of view; said field of view rule is configured to determine said ALLOWED movements of said endoscope within said n 3D spatial positions so as to maintain a constant field of view, said ALLOWED movements being movements in which said endoscope is located substantially in at least one of said n 3D spatial positions, and said RESTRICTED movements being movements in which the location of said endoscope is substantially different from said n 3D spatial positions. 15. The surgical controlling system according to claim 14, wherein said system further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules. 16. The surgical controlling system according to claim 14, wherein said system is configured to provide an alert of said RESTRICTED movements of said at least one surgical tool; wherein said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. 17. The surgical controlling system according to claim 14, 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 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 an operator 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 an operator. 18. 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 a 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 t0; where tf>t0; said movement detection means is configured to detect movement of said at least one surgical tool if said 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 t0; 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 said controller's database is configured to store a predetermined set of rules according to which ALLOWED movements and RESTRICTED movements of said at least one surgical tool are determinable, each detected movement by said movement detection means of said at least one surgical tool being determinable as either said ALLOWED movements or as said RESTRICTED movements according to said predetermined set of rules;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, 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;wherein said preferred volume zone rule comprises a communicable database comprising n 3D spatial positions; n is an integer greater than or equal to 2; a combination of all said n 3D spatial positions provides said preferred volume zone; said preferred volume zone rule is configured to determine said ALLOWED movements of said endoscope within said n 3D spatial positions and RESTRICTED movement of said endoscope outside said n 3D spatial positions, said ALLOWED movements being movements in which said endoscope is located substantially in at least one of said n 3D spatial positions, and said RESTRICTED movements being movements in which the location of said endoscope is substantially different from said n 3D spatial positions. 19. The surgical controlling system according to claim 18, wherein said system further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules. 20. The surgical controlling system according to claim 18, wherein said system is configured to provide an alert of said RESTRICTED movements of said at least one surgical tool; wherein said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. 21. The surgical controlling system according to claim 18, 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 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 an operator 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 an operator. 22. 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 a 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 t0; where tf>t0; said movement detection means is configured to detect movement of said at least one surgical tool if said 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 said controller's database is configured to store a predetermined set of rules according to which ALLOWED movements and RESTRICTED movements of said at least one surgical tool are determinable, each detected movement by said movement detection means of said at least one surgical tool being determinable as either said ALLOWED movements or as said RESTRICTED movements according to said predetermined set of rules;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, 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;wherein said preferred tool rule comprises a communicable database, said database stores a preferred tool; said preferred tool rule is configured to determine said ALLOWED movements of said endoscope to constantly track movement of said preferred tool. 23. The surgical controlling system according to claim 22, wherein said system further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules. 24. The surgical controlling system according to claim 22, wherein said system is configured to provide an alert of said RESTRICTED movements of said at least one surgical tool; wherein said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. 25. The surgical controlling system according to claim 22, 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 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 an operator 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 an operator. 26. 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 a 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 t0; where tf>t0; said movement detection means is configured to detect movement of said at least one surgical tool if said 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 said controller's database is configured to store a predetermined set of rules according to which ALLOWED movements and RESTRICTED movements of said at least one surgical tool are determinable, each detected movement by said movement detection means of said at least one surgical tool being determinable as either said ALLOWED movements or as said RESTRICTED movements according to said predetermined set of rules;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, 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;wherein said most used tool rule comprises a communicable database counting the amount of movement of each of said surgical tools; said most used tool rule is configured to constantly position said endoscope to track movement of a most moved surgical tool. 27. The surgical controlling system according to claim 26, wherein said system further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules. 28. The surgical controlling system according to claim 26, wherein said system is configured to provide an alert of said RESTRICTED movements of said at least one surgical tool; wherein said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. 29. The surgical controlling system according to claim 26, 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 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 an operator 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 an operator. 30. 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 a 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 t0; where tf>t0; said movement detection means is configured to detect movement of said at least one surgical tool if said 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 said controller's database is configured to store a predetermined set of rules according to which ALLOWED movements and RESTRICTED movements of said at least one surgical tool are determinable, each detected movement by said movement detection means of said at least one surgical tool being determinable as either said ALLOWED movements or as said RESTRICTED movements according to said predetermined set of rules;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, 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;wherein said movement detection rule comprises a communicable database comprising real-time 3D spatial positions of each of said at least one surgical tool; said movement detection rule is configured to detect movement of said at least one surgical tool when a change in said 3D spatial positions is received, said ALLOWED movements being movements in which said endoscope is re-directed to focus on a moving surgical tool. 31. The surgical controlling system according to claim 30, wherein said system further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules. 32. The surgical controlling system according to claim 30, wherein said system is configured to provide an alert of said RESTRICTED movements of said at least one surgical tool; wherein said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. 33. The surgical controlling system according to claim 30, 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 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 an operator 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 an operator. 34. 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 a 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 t0; where tf>t0; said movement detection means is configured to detect movement of said at least one surgical tool if said 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 said controller's database is configured to store a predetermined set of rules according to which ALLOWED movements and RESTRICTED movements of said at least one surgical tool are determinable, each detected movement by said movement detection means of said at least one surgical tool being determinable as either said ALLOWED movements or as said RESTRICTED movements according to said predetermined set of rules;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, 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;wherein in said change of speed rule, said system is configured to constantly monitor distance between said endoscope's tip and at least one object within said surgical environment, speed of said endoscope being varied as a function of said distance. 35. The surgical controlling system according to claim 34, wherein said system further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules. 36. The surgical controlling system according to claim 34, wherein said system is configured to provide an alert of said RESTRICTED movements of said at least one surgical tool; wherein said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. 37. The surgical controlling system according to claim 34, 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 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 an operator 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 an operator. 38. 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 a 3D spatial position 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 said 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 step of controlling is performed by storing a predetermined set of rules in a controller's database; said predetermined set of rules comprises ALLOWED movements and RESTRICTED movements of said at least one surgical tool, each detected movement by said movement detection means of said at least one surgical tool being determinable as either said ALLOWED movements or as said RESTRICTED movements according to said predetermined set of rules;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, route rule, environmental rule, operator input rule, proximity rule; collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, history-based rule, tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said left tool rule is configured to determine said ALLOWED movements of said endoscope according to movement of a surgical tool positioned to left of said endoscope. 39. The method according to claim 38, wherein said system further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules. 40. The method according to claim 38, wherein said system is configured to provide an alert of said RESTRICTED movements of said at least one surgical tool. 41. The method according to claim 40, wherein said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. 42. The method according to claim 38, wherein said ALLOWED movements are permitted by said controller and said RESTRICTED movements are denied by said controller. 43. 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 a 3D spatial position 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 said 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 step of controlling is performed by storing a predetermined set of rules in a controller's database; said predetermined set of rules comprises ALLOWED movements and RESTRICTED movements of said at least one surgical tool, each detected movement by said movement detection means of said at least one surgical tool being determinable as either said ALLOWED movements or as said RESTRICTED movements according to said predetermined set of rules;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, route rule, environmental rule, operator input rule, proximity rule; collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, history-based rule, tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said right tool rule is configured to determine said ALLOWED movements of said endoscope according to movement of a surgical tool positioned to right of said endoscope. 44. The method according to claim 43, wherein said system further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules. 45. The method according to claim 43, wherein said system is configured to provide an alert of said RESTRICTED movements of said at least one surgical tool. 46. The method according to claim 45, wherein said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. 47. The method according to claim 43, wherein said ALLOWED movements are permitted by said controller and said RESTRICTED movements are denied by said controller. 48. 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 a 3D spatial position 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 said 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 step of controlling is performed by storing a predetermined set of rules in a controller's database; said predetermined set of rules comprises ALLOWED movements and RESTRICTED movements of said at least one surgical tool, each detected movement by said movement detection means of said at least one surgical tool being determinable as either said ALLOWED movements or as said RESTRICTED movements according to said predetermined set of rules;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, route rule, environmental rule, operator input rule, proximity rule; collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, history-based rule, tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said a tagged tool rule comprises means configured to tag at least one surgical tool within said surgical environment and to determine said ALLOWED movements of said endoscope to constantly track movement of said tagged surgical tool. 49. The method according to claim 48, wherein said system further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules. 50. The method according to claim 48, wherein said system is configured to provide an alert of said RESTRICTED movements of said at least one surgical tool. 51. The method according to claim 50, wherein said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. 52. The method according to claim 48, wherein said ALLOWED movements are permitted by said controller and said RESTRICTED movements are denied by said controller. 53. 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 a 3D spatial position 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 said 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 step of controlling is performed by storing a predetermined set of rules in a controller's database; said predetermined set of rules comprises ALLOWED movements and RESTRICTED movements of said at least one surgical tool, each detected movement by said movement detection means of said at least one surgical tool being determinable as either said ALLOWED movements or as said RESTRICTED movements according to said predetermined set of rules;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, route rule, environmental rule, operator input rule, proximity rule; collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, history-based rule, tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said field of view rule comprises a communicable database comprising n 3D spatial positions; n is an integer greater than or equal to 2; a combination of all of said n 3D spatial positions provides a predetermined field of view; said field of view rule is configured to determine said ALLOWED movements of said endoscope within said n 3D spatial positions so as to maintain a constant field of view, said ALLOWED movements being movements in which said endoscope is located substantially in at least one of said n 3D spatial positions, and said RESTRICTED movements being movements in which the location of said endoscope is substantially different from said n 3D spatial positions. 54. The method according to claim 53, wherein said system further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules. 55. The method according to claim 53, wherein said system is configured to provide an alert the physician of said RESTRICTED movements of said at least one surgical tool. 56. The method according to claim 55, wherein said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. 57. The method according to claim 53, wherein said ALLOWED movements are permitted by said controller and said RESTRICTED movements are denied by said controller. 58. 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 a 3D spatial position 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 said 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 step of controlling is performed by storing a predetermined set of rules in a controller's database; said predetermined set of rules comprises ALLOWED movements and RESTRICTED movements of said at least one surgical tool, each detected movement by said movement detection means of said at least one surgical tool being determinable as either said ALLOWED movements or as said RESTRICTED movements according to said predetermined set of rules;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, route rule, environmental rule, operator input rule, proximity rule; collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, history-based rule, tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said preferred volume zone rule comprises a communicable database comprising n 3D spatial positions; n is an integer greater than or equal to 2; a combination of all said n 3D spatial positions provide a preferred volume zone; said preferred volume zone rule is configured to determine said ALLOWED movements of said endoscope within said preferred volume zone and said RESTRICTED movements of said endoscope outside said preferred volume zone, said ALLOWED movements being movements in which said endoscope is located substantially in at least one of said n 3D spatial positions, and said RESTRICTED movements being movements in which the location of said endoscope is substantially different from said n 3D spatial positions. 59. The method according to claim 58, wherein said system further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules. 60. The method according to claim 58, wherein said system is configured to provide an alert of said RESTRICTED movements of said at least one surgical tool. 61. The method according to claim 60, wherein said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. 62. The method according to claim 58, wherein said ALLOWED movements are permitted by said controller and said RESTRICTED movements are denied by said controller. 63. 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 a 3D spatial position 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 said 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 step of controlling is performed by storing a predetermined set of rules in a controller's database; said predetermined set of rules comprises ALLOWED movements and RESTRICTED movements of said at least one surgical tool, each detected movement by said movement detection means of said at least one surgical tool being determinable as either said ALLOWED movements or as said RESTRICTED movements according to said predetermined set of rules;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, route rule, environmental rule, operator input rule, proximity rule; collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, history-based rule, tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said preferred tool rule comprises a communicable database, said database stores a preferred tool; said preferred tool rule is configured to determine said ALLOWED movements of said endoscope to constantly track movement of said preferred tool. 64. The method according to claim 63, wherein said system further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules. 65. The method according to claim 63, wherein said system is configured to provide an alert of said RESTRICTED movements of said at least one surgical tool. 66. The method according to claim 65, wherein said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. 67. The method according to claim 63, wherein said ALLOWED movements are permitted by said controller and said RESTRICTED movements are denied by said controller. 68. 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 a 3D spatial position 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 said 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 step of controlling is performed by storing a predetermined set of rules in a controller's database; said predetermined set of rules comprises ALLOWED movements and RESTRICTED movements of said at least one surgical tool, each detected movement by said movement detection means of said at least one surgical tool being determinable as either said ALLOWED movements or as said RESTRICTED movements according to said predetermined set of rules;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, route rule, environmental rule, operator input rule, proximity rule; collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, history-based rule, tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein in said change of speed rule, said system is configured to constantly monitor distance between said endoscope's tip and at least one object within the surgical environment, speed of said endoscope being variable as a function of said distance. 69. The method according to claim 68, wherein said system further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules. 70. The method according to claim 68, wherein said system is configured to provide an alert of said RESTRICTED movements of said at least one surgical tool. 71. The method according to claim 70, wherein said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. 72. The method according to claim 68, wherein said ALLOWED movements are permitted by said controller and said RESTRICTED movements are denied by said controller.
Copyright KISTI. All Rights Reserved.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.