Abstract: The invention comprises a cannula assembly kit for a trocar suitable for use in minimally invasive surgery. The cannula assembly kit comprises a cannula and a pattern generating member. The cannula has a distal end and a proximal end and comprises a flange portion at its proximal end and an elongate cannula shaft portion extending from said flange portion to its distal end and an access port through the flange portion and the elongate cannula shaft portion, such that a surgical tool of a surgical instrument can be inserted through the access port. The pattern generating member comprises a pattern light source and a projector arranged such that the pattern light source is operatively connected to the projector for projecting a light pattern. At least the projector of the pattern generating member is configured for being at least temporarily fixed to the cannula shaft portion of the cannula.

Abstract: A depiction system for generating a real time correlated depiction of movements of a surgical tool for uses in minimally invasive surgery is described. In an embodiment the system includes a computer system, 3D surface data generation means and position data generation means for obtaining real time spatial position data of at least a part of the surgical tool. The 3D surface data generation means or the position data generation is adapted for providing surface position data of at least the target area. The computer system is programmed for determining depiction data representing a depiction of the real time relative spatial position(s) of the surgical tool onto at least a portion of the surface contour of the surface section of the minimally invasive surgery cavity.

Abstract: The invention relates to a correlated set for minimal invasive surgery comprising a surgical instrument and a pattern generating member, a surgical system, a training kit, a method of training and a meth of performing a minimal invasive surgery. The surgical instrument comprises a handle portion, a surgical tool and a body portion connecting the handle portion to the surgical tool. The pattern generating member comprises a pattern light source and a projector for projecting a light pattern. The projector is adapted for being at least temporarily fixed to the body portion of the surgical instrument such that a movement of said surgical tool results in a correlated movement of said projector.

Abstract: A minimally invasive surgery system including a robot, a cannula assembly and a computer system. The robot has at least one movable robot arm and the cannula assembly is detachably mounted to the robot arm. The cannula assembly includes a cannula and a pattern generating member. The cannula has a distal end and a proximal end with a flange portion and an elongate cannula shaft portion extending from the proximal end to the distal end and an access port through the elongate cannula shaft portion. The pattern generating member includes a pattern light source and a projector temporarily or permanently fixed to the cannula shaft portion. The pattern light source is operatively connected to the projector for projecting a light pattern. The computer system is configured for in real time receiving image data representing light pattern reflections from a surgical surface and for determining a real-time spatial position of the cannula assembly relative to the surgical surface.

Abstract: A depiction system for generating a real time correlated depiction of movements of a surgical tool for uses in minimally invasive surgery is described. In an embodiment the system includes a computer system, 3D surface data generation means and position data generation means for obtaining real time spatial position data of at least a part of the surgical tool. The 3D surface data generation means or the position data generation is adapted for providing surface position data of at least the target area. The computer system is programmed for determining depiction data representing a depiction of the real time relative spatial position(s) of the surgical tool onto at least a portion of the surface contour of the surface section of the minimally invasive surgery cavity.

Abstract: The invention relates to a correlated set for minimal invasive surgery comprising a surgical instrument and a pattern generating member, a surgical system, a training kit, a method of training and a meth of performing a minimal invasive surgery. The surgical instrument comprises a handle portion, a surgical tool and a body portion connecting the handle portion to the surgical tool. The pattern generating member comprises a pattern light source and a projector for projecting a light pattern. The projector is adapted for being at least temporarily fixed to the body portion of the surgical instrument such that a movement of said surgical tool results in a correlated movement of said projector.

Abstract: A minimally invasive surgery system including a robot, a cannula assembly and a computer system. The robot has at least one movable robot arm and the cannula assembly is detachably mounted to the robot arm. The cannula assembly includes a cannula and a pattern generating member. The cannula has a distal end and a proximal end with a flange portion and an elongate cannula shaft portion extending from the proximal end to the distal end and an access port through the elongate cannula shaft portion. The pattern generating member includes a pattern light source and a projector temporarily or permanently fixed to the cannula shaft portion. The pattern light source is operatively connected to the projector for projecting a light pattern. The computer system is configured for in real time receiving image data representing light pattern reflections from a surgical surface and for determining a real-time spatial position of the cannula assembly relative to the surgical surface.

Abstract: The invention comprises a surgical instrument assembly for minimally invasive surgery. The surgical instrument assembly comprises a light emitting arrangement and a surgical instrument. The surgical instrument has a distal end and a proximal end and comprises a handle portion at its proximal end and a grasper at its distal end, the grasper comprising at least two jaws and having a closed grasper position and an open position where a grasping space is formed between the jaws. The light emitting arrangement comprises a light source for generating light and a projector for projecting at least a beam of light comprising a string shape perpendicular to the optical axis of the beam of light. At least the projector of the light emitting arrangement is at least temporally fixed to the surgical instrument proximally to the jaws and is arranged to project the string shaped beam of light such that it will be broken upon a lateral movement of an object into the grasping space.

Abstract: The invention relates to a laparoscopic tool system for minimally invasive surgery. The laparoscopic tool system comprises a) a laparoscopic instrument, comprising a proximal portion and a distal portion, b) a time-of-flight distance sensor set, comprising a time-of-flight light emitter and a time-of-flight receiver and/or a time-of-flight camera set, comprising a time-of-flight light emitter and a time-of-flight image sensor and, c) a computer system.

Abstract: The invention comprises a surgical instrument assembly for minimally invasive surgery. The surgical instrument assembly comprises a light emitting arrangement and a surgical instrument. The surgical instrument has a distal end and a proximal end and comprises a handle portion at its proximal end and a grasper at its distal end, the grasper comprising at least two jaws and having a closed grasper position and an open position where a grasping space is formed between the jaws. The light emitting arrangement comprises a light source for generating light and a projector for projecting at least a beam of light comprising a string shape perpendicular to the optical axis of the beam of light. At least the projector of the light emitting arrangement is at least temporally fixed to the surgical instrument proximally to the jaws and is arranged to project the string shaped beam of light such that it will be broken upon a lateral movement of an object into the grasping space.

Abstract: A minimally invasive surgery system including a robot, a cannula assembly and a computer system. The robot has at least one movable robot arm and the cannula assembly is detachably mounted to the robot arm. The cannula assembly includes a cannula and a pattern generating member. The cannula has a distal end and a proximal end with a flange portion and an elongate cannula shaft portion extending from the proximal end to the distal end and an access port through the elongate cannula shaft portion. The pattern generating member includes a pattern light source and a projector temporarily or permanently fixed to the cannula shaft portion. The pattern light source is operatively connected to the projector for projecting a light pattern. The computer system is configured for in real time receiving image data representing light pattern reflections from a surgical surface and for determining a real-time spatial position of the cannula assembly relative to the surgical surface.

Abstract: A depiction system for generating a real time correlated depiction of movements of a surgical tool for uses in minimally invasive surgery is described. In an embodiment the system includes a computer system, 3D surface data generation means and position data generation means for obtaining real time spatial position data of at least a part of the surgical tool. The 3D surface data generation means or the position data generation is adapted for providing surface position data of at least the target area. The computer system is programmed for determining depiction data representing a depiction of the real time relative spatial position(s) of the surgical tool onto at least a portion of the surface contour of the surface section of the minimally invasive surgery cavity.

Abstract: The invention comprises a cannula assembly kit for a trocar suitable for use in minimally invasive surgery. The cannula assembly kit comprises a cannula and a pattern generating member. The cannula has a distal end and a proximal end and comprises a flange portion at its proximal end and an elongate cannula shaft portion extending from said flange portion to its distal end and an access port through the flange portion and the elongate cannula shaft portion, such that a surgical tool of a surgical instrument can be inserted through the access port. The pattern generating member comprises a pattern light source and a projector arranged such that the pattern light source is operatively connected to the projector for projecting a light pattern. At least the projector of the pattern generating member is configured for being at least temporarily fixed to the cannula shaft portion of the cannula.

Abstract: The invention relates to a correlated set for minimal invasive surgery comprising a surgical instrument and a pattern generating member, a surgical system, a training kit, a method of training and a meth of performing a minimal invasive surgery. The surgical instrument comprises a handle portion, a surgical tool and a body portion connecting the handle portion to the surgical tool. The pattern generating member comprises a pattern light source and a projector for projecting a light pattern. The projector is adapted for being at least temporarily fixed to the body portion of the surgical instrument such that a movement of said surgical tool results in a correlated movement of said projector.