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：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.

公开(公告)号：US09504456B2

公开(公告)日：2016-11-29

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: G06F19/00 ,  A61B17/00 ,  A61B1/00 ,  A61B1/313 ,  G05B15/02 ,  A61B1/04 ,  A61B1/06 ,  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 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：US10064691B2

公开(公告)日：2018-09-04

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: G06F19/00 ,  A61B34/32 ,  A61B1/00 ,  A61B1/313 ,  A61B17/00 ,  G05B15/02 ,  A61B34/20 ,  A61B90/50 ,  A61B1/04 ,  A61B1/06 ,  A61B90/00 ,  A61B90/98 ,  A61B34/30

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.

公开(公告)号：US10299773B2

公开(公告)日：2019-05-28

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: G06F19/00 ,  A61B17/00 ,  A61B1/313 ,  A61B1/00 ,  A61B90/50 ,  A61B34/32 ,  A61B34/20 ,  A61B90/00 ,  A61B34/30

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：US10039609B2

公开(公告)日：2018-08-07

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: G06F19/00 ,  A61B34/32 ,  A61B1/00 ,  A61B1/313 ,  A61B17/00 ,  G05B15/02 ,  A61B34/20 ,  A61B90/50 ,  A61B1/04 ,  A61B1/06 ,  A61B90/00 ,  A61B90/98 ,  A61B34/30

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 t0. 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.

公开(公告)号：US09204939B2

公开(公告)日：2015-12-08

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: G06F19/00 ,  A61B19/00 ,  A61B1/00 ,  A61B1/313

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：US10201392B2

公开(公告)日：2019-02-12

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: G06F19/00 ,  A61B34/32 ,  A61B1/00 ,  A61B1/313 ,  A61B17/00 ,  G05B15/02 ,  A61B34/20 ,  A61B90/50 ,  A61B1/04 ,  A61B1/06 ,  A61B90/00 ,  A61B90/98 ,  A61B34/30

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：US10028792B2

公开(公告)日：2018-07-24

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: G06F19/00 ,  A61B34/32 ,  A61B1/00 ,  A61B1/313 ,  A61B17/00 ,  G05B15/02 ,  A61B34/20 ,  A61B90/50 ,  A61B1/04 ,  A61B1/06 ,  A61B90/00 ,  A61B90/98 ,  A61B34/30

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.