Systems and methods for guiding manipulation of endoscopic tools for endoscopic surgery

Inventors

COHEN, Dvir • Levinson, Yaron

Assignees

Momentis Surgical Ltd

Abstract

There is provided a computer implemented method of providing a surgical controller with instructions to restrict a manipulation of an endoscopic tool during an endoscopic medical procedure in an intrabody cavity, comprising: inputting into classifier(s), indication(s) of instructions for manipulation of the endoscopic tool outputted by sensor(s), classifying by the classifier(s), the indication of instructions into an envelope defining a volume that restricts therein manipulation of the endoscopic tool, wherein the classifier(s) classifies the envelope based on previously obtained indications of instructions for manipulation of endoscopic tools during other endoscopic medical procedures performed in intrabody cavities of other patients, analyzing the indication of instructions for manipulation of the endoscopic tool according to the envelope to determine when the instructions are for manipulation of the endoscopic tool externally to the envelope, and providing the surgical controller with an indication of inappropriate manipulation according to the analysis.

Core Innovation

A computer implemented method is provided for providing a surgical controller with instructions to restrict a manipulation of an endoscopic tool during an endoscopic medical procedure in an intrabody cavity. The method analyzes at least one indication of instructions for manipulation of the endoscopic tool according to an envelope that defines a volume restricting therein manipulation of the endoscopic tool.

Prior to implementation of the instructions for manipulation of the endoscopic tool by the surgical controller, the method determines whether the instructions represent inappropriate manipulation of the endoscopic tool externally to the envelope. In response to the determining, the method provides the surgical controller with an indication of the inappropriate manipulation.

The envelope is learned based on prior manipulation data from other physicians/patients. The envelope can be computed and dynamically adapted, including a dynamic envelope with time interval based adaptation and, optionally, Markov chain based adaptation, and can be personalized using profiles for a target individual and/or a patient, and profiles for hardware and procedure.

Claims Coverage

The document includes three independent claims: one directed to a computer implemented method, one directed to a system with processors, and one directed to a non-transitory computer-readable medium storing program instructions. Across all independent claims, the inventive core is the same: constraining endoscopic-tool manipulation using an envelope, determining whether manipulation is inappropriate when outside the envelope, and providing an indication to the surgical controller.

The independent claims consistently cover analyzing manipulation instruction indications according to an envelope defining a restriction volume, determining whether instructions correspond to inappropriate manipulation externally to the envelope before surgical-controller implementation, and providing an indication of inappropriate manipulation to the surgical controller.

Stated Advantages

Documented Applications