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 |
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국제특허분류(IPC7판) |
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출원번호 | US-0817245 (2015-08-04) |
등록번호 | US-10052157 (2018-08-21) |
발명자 / 주소 |
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출원인 / 주소 |
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인용정보 | 피인용 횟수 : 0 인용 특허 : 7 |
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 c
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. Examples of rules include a maximum speed rule, a virtual zoom rule, a virtual rotation of scene rule, and position of tool rule.
1. A surgical controlling system, comprising: a. at least one surgical tool configured to be inserted 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 sur
1. A surgical controlling system, comprising: a. at least one surgical tool configured to be inserted 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 processor communicable with a controller's database, said controller configured to control said 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 movement and restricted movement 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 real-time determinable as either said allowed movement or as said restricted movement according to said predetermined set of rules;wherein said surgical controlling system is configured, via said predetermined set of rules, to automatically guide and relocate said at least one surgical tool to a predetermined region of interest;further wherein said predetermined set of rules comprises at least one rule selected from a group consisting of maximum speed rule, virtual zoom rule, virtual rotation of scene rule, and any combination thereof. 2. The surgical controlling system according to claim 1, wherein said maximum speed rule comprises a communicable database; said communicable database is configured to real-time receive and store at least one speed of at least one of said at least one surgical tool; said maximum speed rule is configured to determine said allowed movement and said restricted movement according to said at least one speed; said allowed movement being movement in which said at least one speed of said at least one surgical tool is below a predetermined value, and said restricted movement being movement in which said at least one speed of said at least one surgical tool is above a predetermined value; said allowed movement being movement tracking said at least one surgical tool and said restricted movement is discontinuation of tracking of said at least one surgical tool. 3. The surgical controlling system according to claim 1, wherein, in said maximum speed rule, at least one of the following being true: (a) said system constantly monitors speed of at least one of said at least one surgical tool, terminating tracking if said speed is above a predetermined maximum speed, (b) said system constantly monitors speed of movement of an endoscope, terminating tracking if said speed of said endoscope is above a predetermined maximum speed. 4. The surgical controlling system according to claim 1, wherein in said virtual zoom rule, for a zoom movement of said endoscope comprising at least one restricted movement of said endoscope, said zoom movement is performable via a virtual zooming. 5. The surgical controlling system according to claim 1, wherein in said virtual rotation of scene rule, said system is configured to maintain orientation of a displayed image unaffected by rotation of said endoscope. 6. The surgical controlling system according to claim 1, additionally comprising a position of tool rule, said position of tool 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 communicable database is configured to real-time receive and store at least one 3D position of at least one of said at least one surgical tool to be tracked, said at least one of said at least one surgical tool being at least one tracked tool;said position of tool rule is configured to determine said allowed movement and said restricted movement according to said at least one 3D position of said at least one tracked tool; said allowed movement being movement in which at least one of said at least one 3D position of said at least one tracked tool is within said predetermined volume, and said restricted movement being movement in which said 3D position of said at least one tracked tool is outside said predetermined volume; said allowed movement being movement tracking said at least one tracked tool and said restricted movement being discontinuation of said tracking of said at least one tracked tool. 7. The surgical controlling system according to claim 6, wherein, in said position of tool rule, said system constantly monitors said at least one 3D position of said at least one tracked tool, terminating said tracking if said at least one tracked tool is within said predetermined volume. 8. The surgical controlling system according to claim 1, wherein said predetermined set of rules further 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 movement rule, preferred volume zone rule, preferred tool rule, movement detection rule, tagged tool rule, fixed point rule, change of speed rule and any combination thereof. 9. The surgical controlling system according to claim 8, wherein said fixed point rule comprises a communicable database; said communicable database configured to receive a definition of at least one fixed point, said definition of said at least one fixed point being at least one 3D position determined by a function of at least one predetermined 3D position; said fixed point rule is configured to determine said allowed movement and said restricted movement according to said at least one fixed point; said allowed movement being movement in which said at least one fixed point is located substantially in said at least one 3D position, and said restricted movement being movement in which the location of said at least one fixed point is substantially different from said at least one 3D position. 10. The surgical controlling system according to claim 9, wherein said predetermined position is selected from a group consisting of a tip of said at least one surgical tool, at least one position on at least one of said surgical tool; at least one position on at least one tissue; at least one tissue, at least one position on at least one organ; at least one organ, at least one 3D position within said surgical environment, and any combination thereof. 11. The surgical controlling system according to claim 8, wherein said route rule comprises a communicable database storing predefined route in which said at least one surgical tool is configured to move within said surgical environment; said 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 movement being movement in which said at least one surgical tool is located substantially in at least one of said n 3D spatial positions of said predefined route, and said restricted movement being movement in which said location of said at least one surgical tool is substantially different from said n 3D spatial positions of said predefined route. 12. The surgical controlling system according to claim 8, wherein said environmental rule comprises a comprises a communicable database; said communicable database is 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 at least one 3D spatial position of at least one hazard or obstacle in said surgical environment; said environmental rule is configured to determine said allowed movement and said restricted movement according to said at least one hazard or obstacle in said surgical environment; said restricted movement being movement in which said at least one surgical tool is located substantially in at least one of said at least one 3D spatial position of said at least one hazard or obstacle and said allowed movement being movement in which the location of said at least one surgical tool is substantially different from said at least one 3D spatial position of said at least one hazard or obstacle; said at least one hazard or obstacle in said surgical environment being selected from a group consisting of tissue, a surgical tool, an organ, an endoscope, and any combination thereof. 13. The surgical controlling system according to claim 8, wherein said operator input rule comprises a communicable database; said communicable database is configured to receive an input from the operator of said system regarding said allowed movement and said restricted movement of said at least one surgical tool; said operator input rule is configured to convert said allowed movement to said restricted movement and said restricted movement to said allowed movement; at least one of the following being true: (a) said input comprises n 3D spatial positions; n is an integer greater than or equal to 2; at least one of which being defined as allowed location and at least one of which is defined as restricted location; said allowed movement being movement in which said at least one surgical tool is located substantially in at least one of said n 3D spatial positions, and said restricted movement being movement in which the location of said at least one surgical tool is substantially different from said n 3D spatial positions; (b) said input comprises at least one rule according to which said allowed movement and said restricted movement of said at least one surgical tool are determinable; the spatial position of said at least one surgical tool is controlled by said controller according to said allowed movement and said restricted movement; said predetermined set of rules comprises at least one rule selected 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 movement rule, and any combination thereof. 14. The surgical controlling system according to claim 8, wherein said proximity rule is configured to define a predetermined distance between at least two articles; said allowed movement being movement which is within a range or out of a range of said predetermined distance, and said restricted movement being movement which is out of a range or within a range of said predetermined distance; each said article is selected from a group consisting of a surgical tool, a tissue, an organ, and any combination thereof. 15. The surgical controlling system according to claim 8, wherein said proximity rule is configured to define a predetermined angle between at least two articles; said allowed movement is movement which is within a range or out of a range of said predetermined angle, and said restricted movement is movement which is out of a range or within a range of said predetermined angle; each said article is selected from a group consisting of a surgical tool, a tissue, an organ, and any combination thereof. 16. The surgical controlling system according to claim 8, wherein 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 movement being movement which is in a range that is larger than said predetermined distance, and said restricted movement being movement which is in a range that is smaller than said predetermined distance; said anatomical element being selected from a group consisting of tissue, organ, another surgical tool, and any combination thereof. 17. The surgical controlling system according to claim 8, wherein in said change of speed rule, said system constantly monitors the distance between said endoscope's tip and at least one object within the surgical environment; the speed of said endoscope being variable as a function of said distance. 18. The surgical controlling system according to claim 8, wherein said right tool rule is configured to determine said allowed movement of said endoscope according to movement of at least one said surgical tool positioned to right of said endoscope; said left tool rule being configured to determine said allowed movement of said endoscope according to movement of at least one said surgical tool positioned to left of said endoscope. 19. The surgical controlling system according to claim 8, 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; the 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 movement of said endoscope within said n 3D spatial positions so as to maintain a constant field of view; said allowed movement being movement in which said endoscope is located substantially in at least one of said n 3D spatial positions, and said restricted movement being movement in which the location of said endoscope is substantially different from said n 3D spatial positions. 20. The surgical controlling system according to claim 8, 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; said n 3D spatial positions provide said preferred volume zone; said preferred volume zone rule is configured to determine said allowed movement of said at least one surgical tool within said n 3D spatial positions and said restricted movement of said at least one surgical tool outside said n 3D spatial positions; said allowed movement being movement in which said at least one surgical tool is located substantially in at least one of said n 3D spatial positions, and said restricted movement being movement in which the location of said at least one surgical tool is substantially different from said n 3D spatial positions. 21. The surgical controlling system according to claim 8, 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 movement of an endoscope to constantly track movement of said preferred tool; and any combination thereof. 22. The surgical controlling system according to claim 8, wherein said most used tool rule comprises a communicable database counting the amount of movement of each of said at least one surgical tools; said most used tool rule is configured to constantly position said endoscope to track movement of a most moved surgical tool. 23. The surgical controlling system according to claim 8, wherein said movement detection rule comprises a communicable database comprising at least one real-time 3D spatial position 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 movement being movement in which said endoscope is re-directed to focus on said moving surgical tool. 24. The surgical controlling system according to claim 8, wherein 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 no fly zone rule is configured to determine said restricted movement if said movement is within said no fly zone and said allowed movement if said movement is outside said no fly zone; said restricted movement being movement 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 movement being movement in which the location of said at least one of said at least one surgical tool is substantially different from all of said n 3D spatial positions. 25. The surgical controlling system according to claim 8, wherein said history-based rule comprises a communicable database storing each 3D spatial position of each of said at least one surgical tool; each movement of each of said at least one surgical tool being stored; said history-based rule is configured to determine said allowed movement and said restricted movement according to historical movements of said at least one surgical tool; said allowed movement being movement in which said at least one surgical tool is located substantially in at least one of said 3D spatial positions, and said restricted movement being movement in which the location of said at least one surgical tool is substantially different from said 3D spatial positions. 26. The surgical controlling system according to claim 8, wherein said tool-dependent allowed and restricted movement rule comprises a communicable database; said communicable database is configured to store predetermined characteristics of at least one of said at least one surgical tool; said tool-dependent allowed and restricted movement rule is configured to determine said allowed movement and said restricted movement according to said predetermined characteristics of said at least one of said at least one surgical tool; said allowed movement being movement of said endoscope tracking said at least one of said at least one surgical tool having said predetermined characteristics; said predetermined characteristics of said at least one of said at least one surgical tool being selected from a group consisting of: physical dimensions, structure, weight, sharpness, and any combination thereof. 27. The surgical controlling system according to claim 1, wherein at least one of the following is true (a) said system additionally comprises an endoscope; said endoscope is configured to provide at least one real-time image of said surgical environment; (b) at least one of said at least one surgical tool is an endoscope configured to provide at least one real-time image of said surgical environment. 28. The surgical controlling system according to claim 27, wherein said predetermined set of rules further 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 movement rule, preferred volume zone rule, preferred tool rule, movement detection rule, tagged tool rule, change of speed rule, fixed point rule, maximum speed rule, virtual zoom rule, virtual rotation of scene rule, position of tool rule, and any combination thereof; at least one of the following being true:(a) said right tool rule is configured to determine said allowed movement of said endoscope according to movement of at least one said surgical tool positioned to right of said endoscope; said left tool rule being configured to determine said allowed movement of said endoscope according to movement of at least one said surgical tool positioned to left of said endoscope;(b) said tagged tool rule comprises means configured to tag at least one surgical tool within said surgical environment and to determine said allowed movement of said endoscope to constantly track the movement of said tagged surgical tool;(c) said field of view rule comprises a communicable database comprising n 3D spatial positions; n is an integer greater than or equal to 2; the 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 movement of said endoscope within said n 3D spatial positions so as to maintain a constant field of view; said allowed movement being movement in which said endoscope is located substantially in at least one of said n 3D spatial positions, and said restricted movement being movement in which the location of said endoscope is substantially different from said n 3D spatial positions;(d) said preferred volume 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 provide said preferred volume zone; said preferred volume zone rule is configured to determine said allowed movement of said endoscope within said n 3D spatial positions and said restricted movement of said endoscope outside said n 3D spatial positions; said allowed movement being movement in which said endoscope is located substantially in at least one of said n 3D spatial positions, and said restricted movement being movement in which the location of said endoscope is substantially different from said n 3D spatial positions;(e) said preferred tool rule comprises a communicable database, said database stores a preferred tool; said preferred tool rule is configured to determine said allowed movement of said endoscope to constantly track movement of said preferred tool; and any combination thereof;(f) 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;(g) said movement detection rule comprises a communicable database comprising the real-time 3D spatial positions of each of said 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 movement being movement in which said endoscope is re-directed to focus on said moving surgical tool;(h) in said change of speed rule, said system constantly monitors the distance between said endoscope's tip and at least one object within the surgical environment, the speed of said endoscope being variable as a function of said distance;(i) said maximum speed rule comprises a communicable database; said communicable database is configured to real-time receive and store at least one speed of at least one of said at least one surgical tool; said maximum speed rule is configured to determine said allowed movement and said restricted movement according to said at least one speed; said allowed movement being movement in which said at least one speed of said at least one surgical tool is below a predetermined value, and said restricted movement being movement in which said at least one speed of said at least one surgical tool is above a predetermined value; said allowed movement being tracking said at least one surgical tool and said restricted movement being discontinuation of tracking of said at least one surgical tool;(j) in said maximum speed rule, at least one of the following is true: (i) said system constantly monitors speed of at least one said tagged tool, terminating tracking if said speed is above a predetermined maximum speed, (ii) said system constantly monitors speed of movement of said endoscope, terminating tracking if said speed of said endoscope is above a predetermined maximum speed;(k) in said virtual zoom rule, for a zoom movement of said endoscope comprising at least one restricted movement of said endoscope, said zoom movement is performable via a virtual zooming;(l) in said virtual rotation of scene rule, said system is configured to maintain orientation of a displayed image unaffected by rotation of said endoscope;(m) said position of tool 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 communicable database is configured to real-time receive and store at least one 3D position of at least one of said at least one surgical tool to be tracked, said at least one of said at least one surgical tool to be tracked being at least one tracked tool; said position of tool rule is configured to determine said allowed movement and said restricted movement according to said at least one 3D position of said at least one tracked tool; said allowed movement being movement in which at least one of said at least one 3D position of said at least one tracked tool is within said predetermined volume, and said restricted movement being movement in which said at least one 3D position of said at least one tracked tool is outside said predetermined volume; said allowed movement being movement tracking said at least one tracked tool and said restricted movement being discontinuation of said tracking of said at least one tracked tool;(n) in said position of tool rule, said system constantly monitors said at least one 3D position of said at least one tracked tool, terminating said tracking if said at least one tracked tool is within said predetermined volume;(o) said fixed point rule comprises a communicable database; said communicable database configured to receive a definition of at least one fixed point; said definition of said at least one fixed point being at least one 3D position determined by a function of at least one predetermined 3D position; said fixed point rule is configured to determine said allowed movement and said restricted movement according to said at least one fixed point; said allowed movement being movement in which said at least one fixed point is located substantially in said at least one 3D position, and said restricted movement being movement in which the location of said at least one fixed point is substantially different from said 3D at least one 3D position; said predetermined position is selected from a group consisting of a tip of said at least one surgical tool, at least one position on said at least one surgical tool; at least one position on at least one tissue; at least one tissue, at least one position on at least one organ; at least one organ, at least one 3D position within said surgical environment, and any combination thereof; and(p) any combination thereof. 29. The surgical controlling system according to claim 28, wherein at least one of the following is true: a. said route rule comprises a communicable database storing predefined route in which said at least one surgical tool is configured to move within said surgical environment; said 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 movement being movement in which said at least one surgical tool is located substantially in at least one of said n 3D spatial positions of said predefined route, and said restricted movement being movement in which said location of said at least one surgical tool is substantially different from said n 3D spatial positions of said predefined route;b. said environmental rule comprises a 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 at least one 3D spatial position of at least one hazard or obstacle in said surgical environment; said environmental rule is configured to determine said allowed movement and said restricted movement according to said at least one hazard or obstacle in said surgical environment; said restricted movement being movement in which said at least one surgical tool is located substantially in at least one of said at least one 3D spatial position of said at least one hazard or obstacle, and said allowed movement being movement in which the location of said at least one surgical tool is substantially different from said at least one 3D spatial position of said at least one hazard or obstacle; said at least one hazard or obstacle in said surgical environment being selected from a group consisting of tissue, a surgical tool, an organ, an endoscope, and any combination thereof;c. said operator input rule comprises a communicable database; said communicable database is configured to receive an input from the operator of said system regarding said allowed movement and said restricted movement of said at least one surgical tool; said operator input rule is configured to convert said allowed movement to said restricted movement and said restricted movement to said allowed movement; at least one of the following being true (a) said input comprises n 3D spatial positions; n is an integer greater than or equal to 2; at least one of which being defined as allowed location and at least one of which being defined as restricted location, said allowed movement being movement in which said at least one surgical tool is located substantially in at least one of said n 3D spatial positions, and said restricted movement being movement in which the location of said at least one surgical tool is substantially different from said n 3D spatial positions; (b) said input comprises at least one rule according to which said allowed movement and said restricted movement of said at least one surgical tool are determinable, the spatial position of said at least one surgical tool is controlled by said controller according to said allowed movement and said restricted movement; said predetermined set of rules comprises at least one rule selected 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 movement rule, and any combination thereof;d. said proximity rule is configured to define a predetermined distance between at least two articles; said allowed movement being movement which is within a range or out of a range of said predetermined distance, and said restricted movement being movement which is out of a range or within a range of said predetermined distance; each said article is selected from a group consisting of a surgical tool, a tissue, an organ, and any combination thereof;e. said proximity rule is configured to define a predetermined angle between at least two articles; said allowed movement being movement which is within a range or out of a range of said predetermined angle, and said restricted movement being movement which is out of a range or within a range of said predetermined angle; each said article is selected from a group consisting of a surgical tool, a tissue, an organ, and any combination thereof;f. 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 movement being movement which is in a range that is larger than said predetermined distance, and said restricted movement being movement which is in a range that is smaller than said predetermined distance; said anatomical element being selected from a group consisting of tissue, organ, another surgical tool, and any combination thereof;g. 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 no fly zone rule is configured to determine said restricted movement if said movement is within said no fly zone and said allowed movement if said movement is outside said no fly zone, said restricted movement being movement 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 movement being movement in which the location of said at least one of said at least one surgical tool is substantially different from all of said n 3D spatial positions;h. said history-based rule comprises a communicable database storing each 3D spatial position of each of said at least one surgical tool, each movement of each of said at least one surgical tool being stored; said history-based rule is configured to determine said allowed movement and said restricted movement according to historical movements of said at least one surgical tool; said allowed movement being movement in which said at least one surgical tool is located substantially in at least one of said 3D spatial positions, and said restricted movement being movement 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 movement rule comprises a communicable database; said communicable database is configured to store predetermined characteristics of at least one of said at least one surgical tool; said tool-dependent allowed and restricted movement rule is configured to determine said allowed movement and said restricted movement according to said predetermined characteristics of said at least one of said at least one surgical tool; said allowed movement being movement of said endoscope which tracks said at least one of said at least one surgical tool having said predetermined characteristics; said predetermined characteristics of said at least one of said at least one surgical tool being selected from a group consisting of: physical dimensions, structure, weight, sharpness, and any combination thereof; andj. any combination thereof. 30. The surgical controlling system according to claim 1, wherein said system further comprises 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. 31. The surgical controlling system according to claim 1, wherein said system is configured to provide an alert of said restricted movement of said at least one surgical tool; said alert being selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling, and any combination thereof. 32. The surgical controlling system according to claim 1, wherein at least one of the following is 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 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. 33. 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 processor communicable with a controller's database; said controller's database is in communication with said movement detection means: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;d. detecting if there is movement of said at least one surgical tool if a 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; ande. controlling said 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 (a) storing a predetermined set of rules in a controller's database; said predetermined set of rules comprises allowed movement and restricted movement of said at least one surgical tool; and (b) real-time determining each detected movement by said movement detection means of said at least one surgical tool as either said allowed movement or as said restricted movement according to said predetermined set of rules;wherein said surgical controlling system is configured, via said predetermined set of rules, to automatically guide and relocate said at least one surgical tool to a predetermined region of interest;further wherein said predetermined set of rules comprises at least one rule selected from a group consisting of maximum speed rule, virtual zoom rule, virtual rotation of scene rule, and any combination thereof. 34. The method according to claim 33, wherein said maximum speed rule comprises a communicable database; said communicable database is configured to real-time receive and store at least one speed of at least one of said at least one surgical tool; said maximum speed rule is configured to determine said allowed movement and said restricted movement according to said at least one speed, said allowed movement being movement in which said at least one speed of said at least one surgical tool is below a predetermined value, and said restricted movement being movement in which said at least one speed of said at least one surgical tool is above a predetermined value; said allowed movement being movement tracking said at least one surgical tool and said restricted movement being discontinuation of tracking of said at least one surgical tool. 35. The method according to claim 33, wherein, in said maximum speed rule, at least one of the following is true: (a) said system constantly monitors speed of at least one said tagged tool, terminating tracking if said speed is above a predetermined maximum speed, (b) said system constantly monitors speed of movement of an endoscope, terminating tracking if said speed of said endoscope is above a predetermined maximum speed. 36. The method according to claim 33, wherein, in said virtual zoom rule, for a zoom movement of said endoscope comprising at least one restricted movement of said endoscope, said zoom movement is performable via a virtual zooming. 37. The method according to claim 33, wherein, in said virtual rotation of scene rule, said system is configured to maintain orientation of a displayed image unaffected by rotation of said endoscope. 38. The method according to claim 33, additionally comprising a position of tool rule, said position of tool rule comprising 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 communicable database is configured to real-time receive and store at least one 3D position of at least one of said at least one surgical tool to be tracked, said at least one of said at least one surgical tool being at least one tracked tool;said position of tool rule is configured to determine said allowed movement and said restricted movement according to said at least one 3D position of said at least one tracked tool; said allowed movement being movement in which at least one of said at least one 3D position of said at least one tracked tool is within said predetermined volume, and said restricted movement being movement in which said at least one 3D position of said at least one tracked tool is outside said predetermined volume; said allowed movement being movement tracking said at least one tracked tool and said restricted movement is discontinuation of said tracking of said at least one tracked tool. 39. The method according to claim 33, wherein, in said position of tool rule, said system constantly monitors said at least one 3D position of said at least one tracked tool, terminating said tracking if said tracked tool is within said predetermined volume. 40. The method according to claim 33, wherein said predetermined set of rules further 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 movement rule, preferred volume zone rule, preferred tool rule, movement detection rule, tagged tool rule, fixed point rule, change of speed rule and any combination thereof. 41. The method according to claim 40, wherein said fixed point rule comprises a communicable database; said communicable database configured to receive a definition of at least one fixed point, said definition of said at least one fixed point being at least one 3D position determined by a function of at least one predetermined 3D position; said fixed point rule is configured to determine said allowed movement and said restricted movement according to said at least one fixed point; said allowed movement being movement in which location of said at least one fixed point is substantially in said at least one 3D position, and said restricted movement being movement in which the location of said at least one fixed point is substantially different from said at least one 3D position. 42. The method according to claim 41, wherein said at least one 3D position to be tracked is defined as a function of a predetermined position within said surgical environment; said predetermined position is selected from a group consisting of a tip of said at least one surgical tool, at least one position on at least one of said surgical tool; at least one position on at least one tissue; at least one tissue, at least one position on at least one organ; at least one organ, at least one 3D position within said surgical environment, and any combination thereof. 43. The method according to claim 40, wherein said route rule comprises a communicable database storing predefined route in which said at least one surgical tool is configured to move within said surgical environment; said 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 movement being movement in which said at least one surgical tool is located substantially in at least one of said n 3D spatial positions of said predefined route, and said restricted movement being movement in which said location of said at least one surgical tool is substantially different from said n 3D spatial positions of said predefined route. 44. The method according to claim 40, wherein 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 at least one 3D spatial position of at least one hazard or obstacle in said surgical environment; said environmental rule is configured to determine said allowed movement and said restricted movement according to said at least one hazard or obstacle in said surgical environment, said restricted movement being movement in which said at least one surgical tool is located substantially in at least one of said at least one 3D spatial position of said at least one hazard or obstacle, and said allowed movement being movement in which the location of said at least one surgical tool is substantially different from said at least one 3D spatial position of said at least one hazard or obstacle; said at least one hazard or obstacle in said surgical environment being selected from a group consisting of tissue, a surgical tool, an organ, an endoscope, and any combination thereof. 45. The method according to claim 40, wherein said operator input rule comprises a communicable database; said communicable database is configured to receive an input from the operator of said system regarding said allowed movement and said restricted movement of said at least one surgical tool; said operator input rule is configured to convert said allowed movement to said restricted movement and said restricted movement to said allowed movement; at least one of the following being true (a) said input comprises n 3D spatial positions; n is an integer greater than or equal to 2; at least one of which being defined as allowed location and at least one of which is defined as restricted location; said allowed movement being movement in which said at least one surgical tool is located substantially in at least one of said n 3D spatial positions, and said restricted movement being movement in which the location of said at least one surgical tool is substantially different from said n 3D spatial positions; (b) said input comprises at least one rule according to which said allowed movement and said restricted movement of said at least one surgical tool are determinable; the spatial position of said at least one surgical tool is controlled by said controller according to said allowed movement and said restricted movement; said predetermined set of rules comprises at least one rule selected 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 movement rule, and any combination thereof. 46. The method according to claim 40, wherein said proximity rule is configured to define a predetermined distance between at least two articles; said allowed movement being movement which is within a range or out of a range of said predetermined distance, and said restricted movement being movement which is out of a range or within a range of said predetermined distance; each said article is selected from a group consisting of a surgical tool, a tissue, an organ, and any combination thereof. 47. The method according to claim 40, wherein said proximity rule is configured to define a predetermined angle between at least two articles; said allowed movement being movement which is within a range or out of a range of said predetermined angle, and said restricted movement being movement which is out of a range or within a range of said predetermined angle; each said article is selected from a group consisting of a surgical tool, a tissue, an organ, and any combination thereof. 48. The method according to claim 40, wherein 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 movement being movement which is in a range that is larger than said predetermined distance, and said restricted movement being movement which is in a range that is smaller than said predetermined distance; said anatomical element being selected from a group consisting of tissue, organ, another surgical tool, and any combination thereof. 49. The method according to claim 40, wherein in said change of speed rule, said system constantly monitors the distance between said endoscope's tip and at least one object within the surgical environment; the speed of said endoscope being variable as a function of said distance. 50. The method according to claim 40, wherein said right tool rule is configured to determine said allowed movement of said endoscope according to movement of at least one said surgical tool positioned to right of said endoscope; said left tool rule being configured to determine said allowed movement of said endoscope according to movement of at least one said surgical tool positioned to left of said endoscope. 51. The method according to claim 40, wherein field of view rule comprises a communicable database comprising n 3D spatial positions; n is an integer greater than or equal to 2; the 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 movement of said endoscope within said n 3D spatial positions so as to maintain a constant field of view, said allowed movement being movement in which said endoscope is located substantially in at least one of said n 3D spatial positions, and said restricted movement being movement in which the location of said endoscope is substantially different from said n 3D spatial positions. 52. The method according to claim 40, 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; said n 3D spatial positions provide said preferred volume zone; said preferred volume zone rule is configured to determine said allowed movement of said at least one surgical tool within said n 3D spatial positions and said restricted movement of said at least one surgical tool outside said n 3D spatial positions, said allowed movement being movement in which said at least one surgical tool is located substantially in at least one of said n 3D spatial positions, and said restricted movement being movement in which the location of said at least one surgical tool is substantially different from said n 3D spatial positions. 53. The method according to claim 40, 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 movement of said endoscope to constantly track movement of said preferred tool; and any combination thereof. 54. The method according to claim 40, 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 the most moved surgical tool. 55. The method according to claim 40, wherein said movement detection rule comprises a communicable database comprising at least one 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 movement being movement in which said endoscope is re-directed to focus on said moving surgical tool. 56. The method according to claim 40, wherein 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 no fly zone rule is configured to determine said restricted movement if said movement is within said no fly zone and said allowed movement if said movement is outside said no fly zone, said restricted movement being movement 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 movement being movement in which the location of said at least one of said at least one surgical tool is substantially different from all of said n 3D spatial positions. 57. The method according to claim 40, wherein said history-based rule comprises a communicable database storing each 3D spatial position of each of said at least one surgical tool, each movement of each of said at least one surgical tool being stored; said history-based rule is configured to determine said allowed movement and said restricted movement according to historical movements of said at least one surgical tool, said allowed movement being movement in which said at least one surgical tool is located substantially in at least one of said 3D spatial positions, and said restricted movement being movement in which the location of said at least one surgical tool is substantially different from said 3D spatial positions. 58. The method according to claim 40, wherein said tool-dependent allowed and restricted movement rule comprises a communicable database; said communicable database is configured to store predetermined characteristics of at least one of said at least one surgical tool; said tool-dependent allowed and restricted movement rule is configured to determine said allowed movement and said restricted movement according to said predetermined characteristics of said at least one of said at least one surgical tool; said allowed movement being movement of said endoscope tracking said at least one of said at least one surgical tool having said predetermined characteristics; said predetermined characteristics of said at least one of said at least one surgical tool being selected from a group consisting of: physical dimensions, structure, weight, sharpness, and any combination thereof. 59. The method according to claim 33, wherein at least one of the following is true (a) said system additionally comprises an endoscope; said endoscope is configured to provide at least one real-time image of said surgical environment; (b) at least one of said at least one surgical tool is an endoscope configured to provide at least one real-time image of said surgical environment. 60. The method according to claim 59, wherein said predetermined set of rules further 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 movement rule, preferred volume zone rule, preferred tool rule, movement detection rule, tagged tool rule, change of speed rule, fixed point rule, maximum speed rule, virtual zoom rule, virtual rotation of scene rule, position of tool rule, and any combination thereof; at least one of the following being true:(a) said right tool rule is configured to determine said allowed movement of said endoscope according to movement of at least one said surgical tool positioned to right of said endoscope; said left tool rule being configured to determine said allowed movement of said endoscope according to movement of at least one said surgical tool positioned to left of said endoscope;(b) said tagged tool rule comprises means configured to tag at least one surgical tool within said surgical environment and to determine said allowed movement of said endoscope to constantly track the movement of said tagged surgical tool;(c) said field of view rule comprises a communicable database comprising n 3D spatial positions; n is an integer greater than or equal to 2; the 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 movement of said endoscope within said n 3D spatial positions so as to maintain a constant field of view, said allowed movement being movement in which said endoscope is located substantially in at least one of said n 3D spatial positions, and said restricted movement being movement in which the location of said endoscope is substantially different from said n 3D spatial positions;(d) said preferred volume 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 provide said preferred volume zone; said preferred volume zone rule is configured to determine said allowed movement of said endoscope within said n 3D spatial positions and said restricted movement of said endoscope outside said n 3D spatial positions, said allowed movement being movement in which said endoscope is located substantially in at least one of said n 3D spatial positions, and said restricted movement being movement in which the location of said endoscope is substantially different from said n 3D spatial positions;(e) said preferred tool rule comprises a communicable database, said database stores a preferred tool; said preferred tool rule is configured to determine said allowed movement of said endoscope to constantly track movement of said preferred tool; and any combination thereof;(f) 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;(g) said movement detection rule comprises a communicable database comprising the real-time 3D spatial positions of each of said 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 movement being movement in which said endoscope is re-directed to focus on said moving surgical tool;(h) in said change of speed rule, said system constantly monitors the distance between said endoscope's tip and at least one object within the surgical environment, the speed of said endoscope being variable as a function of said distance;(i) said maximum speed rule comprises a communicable database; said communicable database is configured to real-time receive and store at least one speed of at least one said surgical tool; said maximum speed rule is configured to determine said allowed movement and said restricted movement according to said at least one speed, said allowed movement being movement in which said at least one speed of said at least one surgical tool is below a predetermined value, and said restricted movement being movement in which said at least one speed of said at least one surgical tool is above a predetermined value; said allowed movement being tracking of said at least one surgical tool and said restricted movement being discontinuation of tracking of said at least one surgical tool;(j) in said maximum speed rule, at least one of the following is true: (i) said system constantly monitors speed of at least one said tagged tool, terminating tracking if said speed is above a predetermined maximum speed, (ii) said system constantly monitors speed of movement of said endoscope, terminating tracking if said speed of said endoscope is above a predetermined maximum speed;(k) in said virtual zoom rule, for a zoom movement of said endoscope comprising at least one restricted movement of said endoscope, said zoom movement is performable via a virtual zooming;(l) in said virtual rotation of scene rule, said system is configured to maintain orientation of a displayed image unaffected by rotation of said endoscope;(m) said position of tool 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; said communicable database is configured to real-time receive and store at least one 3D position of at least one of said at least one surgical tool to be tracked, said at least one of said at least one surgical tool being at least one tracked tool; said position of tool rule is configured to determine said allowed movement and said restricted movement according to said at least one 3D position of said at least one tracked tool; said allowed movement being movement in which at least one of said at least one 3D position of said at least one tracked tool is within said predetermined volume, and said restricted movement being movement in which said 3D position of said at least one tracked tool is outside said predetermined volume; said allowed movement being movement tracking said at least one tool and said restricted movement being discontinuation of said tracking of said at least one tracked tool;(n) in said position of tool rule, said system constantly monitors said at least one 3D position of said at least one tracked tool, terminating said tracking if said tagged tool is within said predetermined volume;(o) said fixed point rule comprises a communicable database; said communicable database configured to receive a definition of at least one fixed point; said definition of said at least one fixed point being at least one 3D position determined by a function of at least one predetermined 3D position; said fixed point rule is configured to determine said allowed movement and said restricted movement according to said at least one fixed point; said allowed movement being movement in which said at least one fixed point is located substantially in said at least one 3D position, and said restricted movement being movement in which the location of said at least one fixed point is substantially different from said at least one 3D position; said predetermined position is selected from a group consisting of a tip of said at least one surgical tool, at least one position on at least one of said surgical tool; at least one position on at least one tissue; at least one tissue, at least one position on at least one organ; at least one organ, at least one 3D position within said surgical environment, and any combination thereof; and(p) any combination thereof. 61. The method according to claim 59, wherein at least one of the following is true: a. said route rule comprises a communicable database storing predefined route in which said at least one surgical tool is configured to move within said surgical environment; said 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 movement being movement in which said at least one surgical tool is located substantially in at least one of said n 3D spatial positions of said predefined route, and said restricted movement being movement in which said location of said at least one surgical tool is substantially different from said n 3D spatial positions of said predefined route;b. said environmental rule comprises a 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 at least one 3D spatial position of at least one hazard or obstacle in said surgical environment; said environmental rule is configured to determine said allowed movement and said restricted movement according to said at least one hazard or obstacle in said surgical environment, said restricted movement being movement in which said at least one surgical tool is located substantially in at least one of said at least one 3D spatial position of said at least one hazard or obstacle, and said allowed movement being movement in which the location of said at least one surgical tool is substantially different from said at least one 3D spatial position of said at least one hazard or obstacle; said at least one hazard or obstacle in said surgical environment being selected from a group consisting of tissue, a surgical tool, an organ, an endoscope, and any combination thereof;c. said operator input rule comprises a communicable database; said communicable database is configured to receive an input from the operator of said system regarding said allowed movement and said restricted movement of said at least one surgical tool; said operator input rule is configured to convert said allowed movement to said restricted movement and said restricted movement to said allowed movement; at least one of the following being true: (a) said input comprises n 3D spatial positions; n is an integer greater than or equal to 2; at least one of which being defined as allowed location and at least one of which being defined as restricted location, said allowed movement being movement in which said at least one surgical tool is located substantially in at least one of said n 3D spatial positions, and said restricted movement being movement in which the location of said at least one surgical tool is substantially different from said n 3D spatial positions; (b) said input comprises at least one rule according to which said allowed movement and said restricted movement of said at least one surgical tool are determinable, the spatial position of said at least one surgical tool being controlled by said controller according to said allowed movement and said restricted movement; said predetermined set of rules comprises at least one rule selected 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 movement rule, and any combination thereof;d. said proximity rule is configured to define a predetermined distance between at least two articles; said allowed movement being movement which is within a range or out of a range of said predetermined distance, and said restricted movement being movement which is out of a range or within a range of said predetermined distance; each said article is selected from a group consisting of a surgical tool, a tissue, an organ, and any combination thereof;e. said proximity rule is configured to define a predetermined angle between at least two articles; said allowed movement being movement which is within a range or out of a range of said predetermined angle, and said restricted movement being movement which is out of a range or within a range of said predetermined angle; each said article is selected from a group consisting of a surgical tool, a tissue, an organ, and any combination thereof;f. 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 movement being movement which is in a range that is larger than said predetermined distance, and said restricted movement being movement which is in a range that is smaller than said predetermined distance; said anatomical element being selected from a group consisting of tissue, organ, another surgical tool, and any combination thereof;g. 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 no fly zone rule is configured to determine said restricted movement if said movement is within said no fly zone and said allowed movement if said movement is outside said no fly zone, said restricted movement being movement 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 movement being movement in which the location of said at least one of said at least one surgical tool is substantially different from all said n 3D spatial positions;h. said history-based rule comprises a communicable database storing each 3D spatial position of each of said at least one surgical tool, each movement of each of said at least one surgical tool being stored; said history-based rule is configured to determine said allowed movement and said restricted movement according to historical movements of said at least one surgical tool, said allowed movement being movement in which said at least one surgical tool is located substantially in at least one of said 3D spatial positions, and said restricted movement being movement 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 movement rule comprises a communicable database; said communicable database is configured to store predetermined characteristics of at least one of said at least one surgical tool; said tool-dependent allowed and restricted movement rule is configured to determine said allowed movement and said restricted movement according to said predetermined characteristics of said at least one of said at least one surgical tool; said allowed movement being movement of said endoscope which track said at least one of said at least one surgical tool having said predetermined characteristics; said predetermined characteristics of said at least one of said at least one surgical tool being selected from a group consisting of: physical dimensions, structure, weight, sharpness, and any combination thereof; andj. any combination thereof. 62. The method according to claim 33, wherein said system further comprises 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. 63. The method according to claim 33, wherein said system is configured to provide an alert of said restricted movement of said at least one surgical tool; said alert being selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling, and any combination thereof. 64. The method according to claim 33, wherein at least one of the following is 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 comprise 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.
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