Device and method for assisting laparoscopic surgery—rule based approach
Inventors
FRIMER, Motti • Sholev, Mordehai • PFEFFER, Yehuda
Assignees
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Publication Number
US-11185315-B2
Publication Date
2021-11-30
Expiration Date
Abstract
A method for assisting a surgical operator in performing a surgical procedure uses a surgical controlling system includes a controller having a processing means communicable with a controller's database, said controller configured to control the spatial position of a surgical tool. The controller's database is in communication with movement detection means. The controller's database is configured to store a predetermined set of rules according to which allowed and restricted movements of the surgical tool are determined, each detected movement by said movement detection means of said at least one surgical tool being determined as either an allowed movement or as a restricted movement according to said predetermined set of rules. The system automatically real-time analyzes and determines the location of each anatomical element in the surgical environment.
Core Innovation
The method assists an operator in performing a surgical procedure using a surgical controlling system comprising at least one surgical tool, location estimating means, movement detection means, and a controller communicable with a database. The system estimates the location of the surgical tool within the surgical environment in real time, detects movement when its 3D spatial position changes, and uses predetermined rules stored in the database to determine whether each detected movement is allowed or restricted.
The predetermined rules include a field of view rule that relocates the endoscope when movement of at least one surgical tool is detected while maintaining a predetermined field of view based on at least two 3D spatial positions. The system automatically analyzes the real-time image to determine the location of each anatomical element in the surgical environment. The disclosure additionally describes tracking tagged tools, repositioning the endoscope toward a region of interest, go-to positioning functions, and image overlays marking movement paths.
Claims Coverage
The claims identify one independent claim comprising four primary inventive features, along with dependent-claim refinements comprising additional movement rules and alerts.
Real-time tool location estimation and movement detection
The method estimates the location of at least one surgical tool within the surgical environment in real time and detects movement when its 3D spatial position changes.
Rule-based control of surgical tool position
A controller controls the spatial position of the surgical tool using predetermined rules stored in a database comprising allowed and restricted movements, determining whether each detected movement is allowed or restricted.
Endoscope relocation to maintain a predetermined field of view
The rules comprise a field of view rule based on a combination of at least two 3D spatial positions that relocates the endoscope when movement of at least one surgical tool is detected while maintaining the predetermined field of view.
Real-time determination of anatomical-element locations
The system automatically analyzes the real-time image and determines the location of each anatomical element in the surgical environment.
Additional movement rules and physician alerts
Rules further comprise collision prevention, tool tracking, routes, no-fly zones, environmental hazards, tool relationships, operator input, spatial or distance and angle constraints, endoscope redirection, and alerting the physician to restricted movements.
The claim coverage focuses on real-time tool tracking, movement classification, controller-based spatial control, endoscope relocation maintaining a predetermined field of view, and real-time anatomical element localization, supplemented by dependent rules and physician alerts.
Stated Advantages
Varying endoscope speed with distance from an object supports fine positioning and reduces contact risk.
Documented Applications
Assisting an operator to perform a surgical procedure in the surgical environment of a human body.
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