公开(公告)号：US20200163537A1

公开(公告)日：2020-05-28

申请号：US16590268

申请日：2019-10-01

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD

Inventor： Mordehai SHOLEV

IPC: A61B1/00 ,  A61B1/313 ,  A61B90/98 ,  A61B34/30 ,  A61B90/50

Abstract: The present invention provides a two-part robotic device for positioning of a hand tool, comprising: a. a fixed base unit constantly fix to its position; b. a detachable body unit reversibly coupled to said fixed base unit, coupled to said current medical instrument; wherein said fixed base unit is adapted to provide independent movement to said hand tool, said independent movement selected from the group consisting of rotation and translation, and further wherein said detachable body unit is removable and replaceable from said fixed base unit such that upon exchange of said hand tool for a second hand tool, said second hand tool is placed in substantially the same location as the location of said hand tool prior to said exchange.

公开(公告)号：US20180271603A1

公开(公告)日：2018-09-27

申请号：US15756118

申请日：2016-08-30

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD

Inventor： Tal NIR ,  Gal ATAROT ,  Motti FRIMER

IPC: A61B34/00 ,  A61B17/00 ,  A61B1/313 ,  A61B34/20

CPC classification number: A61B34/25 ,  A61B1/3132 ,  A61B5/0476 ,  A61B5/0488 ,  A61B5/055 ,  A61B5/061 ,  A61B5/4244 ,  A61B5/6824 ,  A61B5/7275 ,  A61B17/00234 ,  A61B34/20 ,  A61B34/75 ,  A61B2017/00119 ,  A61B2017/00207 ,  A61B2017/00216 ,  A61B2017/00221 ,  A61B2017/2906 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2072 ,  A61B2034/252 ,  A61B2034/256 ,  A61B2034/302 ,  A61B2090/374 ,  A61B2503/20 ,  A61B2505/05 ,  A61B2562/0219

Abstract: An intelligent surgical tool control system, comprising a tool management system; an indicating means to indicate at least one surgical event; a communicable database for storing, for each item of interest, its identity, its present 3D position and at least one previous 3D position; and at least one processor to identify, from a surgical event, an output surgical procedure. The tool management system can comprise a maneuvering mechanism to maneuver a surgical tool in at least two dimensions; and a controller to control at least one of activation and deactivation of a surgical tool and articulation of a surgical tool. The indicating means can indicate a surgical event selected from movement of a moving element and presence of an item of interest, where movement is determinable if the current 3D position of the moving element is substantially different from a previous 3D position of the same.

公开(公告)号：US09757206B2

公开(公告)日：2017-09-12

申请号：US14753902

申请日：2015-06-29

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD

Inventor： Motti Frimer ,  Mordehai Sholev ,  Yehuda Pfeffer

IPC: G06F19/00 ,  A61B90/00 ,  A61B1/313 ,  A61B34/20 ,  A61B1/00 ,  A61B17/00 ,  G05B15/02 ,  A61B90/50 ,  G05B19/042 ,  A61B34/30 ,  A61B17/34

CPC classification number: A61B90/39 ,  A61B1/00006 ,  A61B1/00149 ,  A61B1/3132 ,  A61B17/00234 ,  A61B34/20 ,  A61B34/30 ,  A61B90/50 ,  A61B2017/00119 ,  A61B2017/3407 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/256 ,  A61B2090/365 ,  A61B2090/3937 ,  G05B15/02 ,  G05B19/0426 ,  G05B2219/2617

Abstract: Surgical controlling systems and methods. A surgical controlling system includes: at least one surgical tool adapted to be inserted into a surgical environment of a human body for assisting a surgical procedure; at least one location estimating unit to real-time locate the 3D spatial position of at least one surgical tool at any given time t; and at least one movement detection unit in communication with a movement's database and with the location estimating means. The system also includes a controller having a processing unit in communication with a controller's database. The controller controls the spatial position of at least one surgical tool.

公开(公告)号：US20170202624A1

公开(公告)日：2017-07-20

申请号：US15317121

申请日：2015-06-08

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD

Inventor： Gal ATAROT ,  Tal NIR ,  Motti FRIMER ,  Tami HAREL

IPC: A61B34/20 ,  A61B90/00 ,  A61B34/00 ,  A61B1/00 ,  A61B1/313 ,  G06F19/00 ,  A61B17/00

CPC classification number: A61B34/20 ,  A61B1/00045 ,  A61B1/3132 ,  A61B17/00234 ,  A61B34/00 ,  A61B34/25 ,  A61B90/03 ,  A61B90/361 ,  A61B2017/00057 ,  A61B2017/00119 ,  A61B2017/00199 ,  A61B2017/00207 ,  A61B2017/00216 ,  A61B2017/00221 ,  A61B2017/00225 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2090/0805 ,  A61B2090/373 ,  A61B2562/0257 ,  G05B19/00 ,  G06F19/3481 ,  G16H40/63

Abstract: A surgical controlling system, comprising: at least one surgical tool configured to be inserted into a surgical environment of a human body; at least one location estimating means configured for real-time localization of the 3D spatial position of said at least one surgical tool at any given time t; at least one movement detection means communicable with a movement's database and with said location estimating means; a controller having a processing means communicable with a controller's database; said controller's database is in communication with said movement detection means; and at least one display configured to real time provide an image of at least a portion of said surgical environment; wherein said controller is configured to direct said surgical tool to said location via said instructions provided by said controller; further wherein said location is real time updated on said display as said at least one surgical tool is moved.

公开(公告)号：US20160157698A1

公开(公告)日：2016-06-09

申请号：US15046862

申请日：2016-02-18

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD.

Inventor： Mordehai SHOLEV

IPC: A61B1/00 ,  A61B17/00 ,  A61B34/00 ,  A61B1/313

CPC classification number: A61B1/00016 ,  A61B1/00006 ,  A61B1/00045 ,  A61B1/00149 ,  A61B1/3132 ,  A61B17/00234 ,  A61B34/25 ,  A61B34/30 ,  A61B34/70 ,  A61B34/74 ,  A61B90/361 ,  A61B2017/00221 ,  A61B2017/00225 ,  A61B2034/2051 ,  A61B2034/301

Abstract: An improved interface between the surgeon and an endoscope system for laparoscopic surgery, holding a laparoscopic camera and/or controlling an automated endoscope assistant includes at least one wireless transmitter with at least one operating key, at least one wireless receiver, at least one conventional laparoscopy computerized system loaded with conventional surgical instrument spatial location software, and conventional automated assistant maneuvering software, software loaded onto the conventional laparoscopy system that enables a visual response to the depression of at least one key on the wireless transmitter as well as an interface with the conventional automated assistant maneuvering software so as to achieve movement of the endoscope, and at least one video screen.

Abstract translation: 外科医生和用于腹腔镜手术的内窥镜系统之间的改进的界面，保持腹腔镜照相机和/或控制自动内窥镜助手包括具有至少一个操作键的至少一个无线发射器，至少一个无线接收器，至少一个常规腹腔镜检查 装有常规手术器械空间位置软件的计算机化系统和常规的自动辅助操纵软件，加载到常规腹腔镜检查系统上的软件，其能够对无线发射器上的至少一个键的按下的视觉响应以及与常规的接口 自动辅助操纵软件，以实现内窥镜的移动，以及至少一个视频屏幕。

公开(公告)号：US20160007827A1

公开(公告)日：2016-01-14

申请号：US14816099

申请日：2015-08-03

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD

Inventor： Motti FRIMER ,  Mordehai SHOLEV ,  Yehuda PFEFFER

IPC: A61B1/00 ,  G05B15/02 ,  A61B17/00

CPC classification number: A61B34/32 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00147 ,  A61B1/00149 ,  A61B1/04 ,  A61B1/06 ,  A61B1/3132 ,  A61B17/00234 ,  A61B34/20 ,  A61B34/30 ,  A61B90/361 ,  A61B90/50 ,  A61B90/98 ,  A61B2017/00075 ,  A61B2017/00132 ,  A61B2017/00225 ,  A61B2034/2048 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2034/2074 ,  A61B2090/365 ,  A61B2090/367 ,  A61B2090/371 ,  A61B2090/3945 ,  A61B2090/3983 ,  G05B15/02

Abstract: 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.

Abstract translation: 一种手术控制系统，包括：与移动检测装置和移动数据库通信的装置，用于实时地定位至少一个手术工具的3D空间位置，所述至少一个手术工具可插入身体的手术环境中; 以及与控制器数据库和移动检测装置通信的控制器。 运动数据库在时间tf和t0存储外科手术工具的3D空间位置; 如果在时间tf处的3D空间位置与时间t0处的3D空间位置不同，它已经移动。 存储在控制器数据库中的规则确定外科手术工具的允许和限制运动，并用于控制手术工具的空间位置。 规则包括：最常用的工具，正确的工具，左工具，视野，无飞行区，路线，环境，操作员输入，接近，碰撞预防，历史为基础，工具相关的允许和限制运动，首选体积区，优选 工具，运动检测，标记工具和速度规则的更改。

公开(公告)号：US20150238276A1

公开(公告)日：2015-08-27

申请号：US14671128

申请日：2015-03-27

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD.

Inventor： Gal ATAROT ,  Yaron LEVINSON ,  Tal NIR ,  Motti FRIMER

IPC: A61B19/00 ,  A61B1/00 ,  A61B1/06 ,  A61B17/00 ,  A61B1/04

CPC classification number: A61B1/00009 ,  A61B1/00149 ,  A61B17/00234 ,  A61B34/20 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/08021 ,  A61B2090/367 ,  A61B2090/373

Abstract: A surgical controlling system that includes: a surgical tool that is insertable into a surgical environment of a human body for a surgical procedure. Logic configured to locate in real-time the 3D spatial position of the at least one surgical tool at any given time t. The system also includes at least one movement detector and a controller in communication with a controller database.

Abstract translation: 一种手术控制系统，其包括：外科手术工具，其可插入到人体的手术环境中用于外科手术。 逻辑配置成在任何给定时间t实时地定位所述至少一个外科手术工具的3D空间位置。 该系统还包括至少一个运动检测器和与控制器数据库通信的控制器。

公开(公告)号：US20180325604A1

公开(公告)日：2018-11-15

申请号：US15322452

申请日：2015-07-09

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD.

Inventor： Gal ATAROT ,  Motti FRIMER ,  Tal NIR ,  Tami HAREL

IPC: A61B34/00 ,  A61B1/313 ,  A61B5/00 ,  A61B5/11 ,  A61B1/00

Abstract: The present invention discloses a surgical maneuvering system, in which movement of a moving element is used to control a surgical device such as a surgical tool or an endoscope. The moving element can be a tool or a portion of an operator's body. The relationship between the moving element and the surgical device can be any of: motion of a moving element controlling motion of a surgical device, motion of a moving element controlling an action of a surgical device, a command of a moving element controlling motion of a surgical device, or a command of a moving element controlling an action of the device. Commands are typically arbitrary movements such as shaking a tool. Actions are changes in a surgical device that do not change its overall position, such as closing a grasper.

公开(公告)号：US10052157B2

公开(公告)日：2018-08-21

申请号：US14817245

申请日：2015-08-04

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD

Inventor： Motti Frimer ,  Mordehai Sholev ,  Yehuda Pfeffer

IPC: G06F19/00 ,  A61B19/00 ,  A61B1/00 ,  A61B1/313 ,  A61B34/20 ,  A61B90/50 ,  A61B17/00 ,  A61B90/00 ,  A61B34/00 ,  A61B34/30

CPC classification number: A61B90/50 ,  A61B1/00006 ,  A61B1/00149 ,  A61B1/3132 ,  A61B34/20 ,  A61B34/30 ,  A61B2017/00119 ,  A61B2017/00207 ,  A61B2017/00216 ,  A61B2017/00221 ,  A61B2034/2046 ,  A61B2034/2048 ,  A61B2034/256 ,  A61B2090/0807 ,  A61B2090/0811 ,  A61B2090/365 ,  A61B2090/368

Abstract: 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.

公开(公告)号：US09937013B2

公开(公告)日：2018-04-10

申请号：US14813170

申请日：2015-07-30

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD

Inventor： Motti Frimer ,  Mordehai Sholev ,  Yehuda Pfeffer

IPC: A61B34/32 ,  A61B1/00 ,  A61B1/313 ,  A61B17/00 ,  G05B15/02 ,  A61B34/20 ,  A61B90/50 ,  A61B1/04 ,  A61B1/06 ,  A61B90/00 ,  A61B90/98 ,  A61B34/30

CPC classification number: A61B34/32 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00147 ,  A61B1/00149 ,  A61B1/04 ,  A61B1/06 ,  A61B1/3132 ,  A61B17/00234 ,  A61B34/20 ,  A61B34/30 ,  A61B90/361 ,  A61B90/50 ,  A61B90/98 ,  A61B2017/00075 ,  A61B2017/00132 ,  A61B2017/00225 ,  A61B2034/2048 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2034/2074 ,  A61B2090/365 ,  A61B2090/367 ,  A61B2090/371 ,  A61B2090/3945 ,  A61B2090/3983 ,  G05B15/02

Abstract: A surgical controlling system comprising: a location estimating means to real-time locate the 3D spatial position of surgical tools, a movement detection means and movement database in communication with the location estimating means and with a control database and controller to control the position of surgical tools. The movement database stores 3D spatial positions of the surgical tools at the present time and at at least one previous time; movement has occurred if a present position is different from a previous position. In the control database are rules identifying tool movement as allowed or restricted, selected from: most used tool rule, right or 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, preferred tool, movement detection rule, tagged tool rule, and change of speed rule.