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：US20160270864A1

公开(公告)日：2016-09-22

申请号：US15169990

申请日：2016-06-01

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

Inventor： Motti FRIMER ,  Mordehai SHOLEV ,  Yehuda PFEFFER

IPC: A61B34/20

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: 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.

Abstract translation: 一种手术控制系统，包括：至少一个位置估计装置，用于实时地定位至少一个手术工具的3D空间位置; 与运动数据库和位置估计装置通信的至少一个运动检测装置; 以及控制器，其控制至少一个手术工具的位置，与移动数据库，控制数据库和移动检测装置通信。 移动数据库在当前时间和至少一个先前时间存储每个外科手术工具的3D空间位置; 如果现在的位置与以前的位置不同，那么一个工具已经移动了。 控制数据库存储用于将工具移动为允许运动或限制运动的规则。

公开(公告)号：US20140194896A1

公开(公告)日：2014-07-10

申请号：US14150939

申请日：2014-01-09

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

Inventor： Motti FRIMER ,  Mordehai SHOLEV ,  Yehuda PFEFFER

IPC: A61B19/00

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: 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.

Abstract translation: 手术控制系统和方法。 手术控制系统包括：至少一个手术工具，其适于插入到人体的外科手术环境中以辅助外科手术; 至少一个位置估计单元以在任何给定时间t实时定位至少一个外科手术工具的3D空间位置; 以及至少一个移动检测单元，其与运动的数据库和位置估计装置通信。 该系统还包括具有与控制器数据库通信的处理单元的控制器。 控制器控制至少一个手术工具的空间位置。

公开(公告)号：US20170105713A1

公开(公告)日：2017-04-20

申请号：US15393286

申请日：2016-12-29

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

Inventor： Motti FRIMER ,  Mordehai SHOLEV ,  Yehuda PFEFFER

IPC: A61B17/00 ,  A61B1/313 ,  A61B90/10

CPC classification number: A61B17/00234 ,  A61B1/00006 ,  A61B1/00149 ,  A61B1/3132 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B90/03 ,  A61B90/50 ,  A61B2017/00119 ,  A61B2017/00132 ,  A61B2017/00225 ,  A61B2034/2048 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2034/2074 ,  A61B2090/08021 ,  A61B2090/0803 ,  A61B2090/365 ,  A61B2090/367 ,  A61B2090/371 ,  A61B2090/3983

Abstract: The present invention provides a surgical controlling system, comprising: a. a surgical tool; b. a location estimating means configured to real-time locate the 3D spatial position of said at least one surgical tool at any given time t; c. a 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 the 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time t0; and, d. a controller configured to control the spatial position of said at least one surgical tool.

公开(公告)号：US20160174955A1

公开(公告)日：2016-06-23

申请号：US14752949

申请日：2015-06-28

Applicant: M.S.T. Medical Surgery Technologies Ltd

Inventor： Motti FRIMER ,  Mordehai SHOLEV ,  Yehuda PFEFFER

IPC: A61B17/00 ,  A61B1/00 ,  A61B1/06 ,  A61B1/313 ,  A61B1/04

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: 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：US20160051336A1

公开(公告)日：2016-02-25

申请号：US14752947

申请日：2015-06-28

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

Inventor： Motti FRIMER ,  Mordehai SHOLEV ,  Yehuda PFEFFER

IPC: A61B19/00 ,  A61B1/313 ,  A61B1/00

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: 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.

Abstract translation: 一种手术控制系统，包括：至少一个位置估计装置，用于实时地定位至少一个手术工具的3D空间位置; 与运动数据库和位置估计装置通信的至少一个运动检测装置; 以及控制器，其控制至少一个手术工具的位置，与移动数据库，控制数据库和移动检测装置通信。 移动数据库在当前时间和至少一个先前时间存储每个外科手术工具的3D空间位置; 如果现在的位置与以前的位置不同，那么一个工具已经移动了。 控制数据库存储用于将工具移动为允许运动或限制运动的规则。

公开(公告)号：US20160007828A1

公开(公告)日：2016-01-14

申请号：US14816127

申请日：2015-08-03

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

Inventor： Motti FRIMER ,  Mordehai SHOLEV ,  Yehuda PFEFFER

IPC: A61B1/00 ,  A61B1/313 ,  A61B19/00

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: at least one surgical tool insertable into a surgical environment of a body; a means to real-time locate 3D spatial positions of the surgical tools at any time t, in communication with a movement detection means and a movement database; a controller having a processing means in communication with a controller database and the movement detection means; and an endoscope, either one of the tools or in addition to them, to provide a real-time image of the surgical environment. The movement database stores the 3D spatial positions of the surgical tools at times tf and t0. A surgical tool has moved if its 3D spatial position at time tf differs from its position at time to. The controller database stores rules used by the controller to control the spatial positions of the surgical tools; the rules determine ALLOWED and RESTRICTED movements of the surgical tools.

Abstract translation: 一种手术控制系统，包括：至少一个手术工具，其可插入身体的手术环境中; 在移动检测装置和移动数据库的任何时间t实时地定位外科手术工具的3D空间位置的装置; 控制器，具有与控制器数据库和移动检测装置通信的处理装置; 以及内窥镜，工具之一或除了它们之外，还提供外科手术环境的实时图像。 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。 外科手术工具如果在时间tf处的3D空间位置与其在时间上的位置不同，则移动。 控制器数据库存储控制器用于控制手术工具的空间位置的规则; 这些规则决定了外科手术工具的允许和限制运动。

公开(公告)号：US20190117323A1

公开(公告)日：2019-04-25

申请号：US16176854

申请日：2018-10-31

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

Inventor： Motti FRIMER ,  Mordehai SHOLEV ,  Yehuda PFEFFER

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

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: The present invention provides a surgical controlling system, comprising: a. at least one surgical tool configured to be insertable into a surgical environment of a human body for assisting a surgical procedure; b. at least one location estimating means configured to real-time locate the 3D spatial position of said at least one surgical tool at any given time t; c. at least one movement detection means communicable with a movement's database and with said location estimating means; 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.

公开(公告)号：US20170027654A1

公开(公告)日：2017-02-02

申请号：US15289324

申请日：2016-10-10

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

Inventor： Motti FRIMER ,  Mordehai SHOLEV ,  Yehuda PFEFFER

IPC: A61B34/32 ,  A61B90/98 ,  A61B90/00 ,  A61B34/20

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: The present invention provides a surgical controlling system, comprising: a. at least one surgical tool configured to be insertable into a surgical environment of a human body for assisting a surgical procedure; b. at least one location estimating means configured to real-time locate the 3D spatial position of said at least one surgical tool at any given time t; c. at least one movement detection means communicable with a movement's database and with said location estimating means; 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.

Abstract translation: 手术控制系统和方法。 手术控制系统包括：至少一个手术工具，其适于插入到人体的外科手术环境中以辅助外科手术; 至少一个位置估计单元以在任何给定时间t实时定位至少一个外科手术工具的3D空间位置; 以及至少一个移动检测单元，其与运动的数据库和位置估计装置通信。 该系统还包括具有与控制器数据库通信的处理单元的控制器。 控制器控制至少一个手术工具的空间位置。

公开(公告)号：US20160345802A1

公开(公告)日：2016-12-01

申请号：US15232836

申请日：2016-08-10

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

Inventor： Tal NIR ,  Yehuda PFEFFER

IPC: A61B1/00 ,  A61B1/045 ,  A61B1/01 ,  A61B1/018 ,  A61B1/06 ,  A61B1/05

CPC classification number: A61B1/045 ,  A61B1/00009 ,  A61B1/00045 ,  A61B1/00183 ,  A61B1/00188 ,  G02B23/243 ,  G02B23/2484

Abstract: The present invention provides a system for altering the field of view of an endoscope image, comprising: at least one endoscope having a wide-angle lens in said endoscope's distal end; at least one camera located in said endoscope's proximal end, adapted to image a field of view of said endoscope image by means of said wide-angle lens; and a computer program which, when executed by data processing apparatus, is configured to select at least a portion of said field of view; wherein said portion of said field of view is selectable without physically maneuvering said endoscope or said wide-angle lens such that a virtual maneuvering of said field of view is provided.

Abstract translation: 本发明提供了一种用于改变内窥镜图像的视野的系统，包括：至少一个内窥镜，其在所述内窥镜的远端具有广角镜头; 位于所述内窥镜的近端中的至少一个摄像机，适于通过所述广角镜头对所述内窥镜图像的视野进行成像; 以及计算机程序，当由数据处理装置执行时，被配置为选择所述视场的至少一部分; 其中所述视野的所述部分是可选择的，而不用物理地操纵所述内窥镜或所述广角镜头，使得提供所述视场的虚拟操纵。