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：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：US10603110B2

公开(公告)日：2020-03-31

申请号：US15346739

申请日：2016-11-09

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

Inventor： Mordehai Sholev ,  Gal Atarot ,  Motti Frimer

IPC: A61B34/10 ,  A61B1/00 ,  A61B1/313 ,  A61B34/20 ,  G08C17/02 ,  A61B17/00 ,  A61B90/10 ,  A61B34/00 ,  A61B90/00 ,  A61B34/30 ,  A61B90/53

Abstract: Methods and devices for improving the interface between a surgeon and an operating medical assistant or between the surgeon and an endoscope system for laparoscopic surgery. A device is useful for controlling an endoscope system for laparoscopic surgery and includes a wearable interface for enhancing the control of an endoscope system during laparoscopic surgery.

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：US20190008598A1

公开(公告)日：2019-01-10

申请号：US16060289

申请日：2016-12-06

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

Inventor： Motti Frimer ,  Tal Nir ,  Gal Atarot

IPC: A61B34/32 ,  A61B5/06 ,  A61B5/00 ,  A61B5/0205 ,  G16H50/20

Abstract: The present invention provides a system for identifying at least one surgical procedure, comprising: a. at least one robotic manipulator connectable to said at least one surgical tool; b. at least one imaging device configured to real time provide at least one image in a field of view of a surgical environment; c. processor in communication with said robotic manipulator and said imaging device; and, d. communicable database configured to (i) store said surgical procedure; said at least one surgical procedure is characterized by at least one spatial position of at least one item SP stored; (ii) real-time store at least one of said spatial position, SP item, of at least one said item; wherein said at least one processor is configured to identify at least one said surgical procedure being performed by identifying at least partial match between said SP item and said SP stored

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.

公开(公告)号：US09757204B2

公开(公告)日：2017-09-12

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

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: The present invention provides a surgical controlling system and method for improving the interface between the surgeon and the laparoscopic surgery system. The invention includes one or more surgical tools that are inserted into the human body, a tracking system to locate the tool and detect its movement, and a processing system capable of controlling the location of the tool.