Abstract: Methods of assisting an operator to perform a surgical procedure include inserting at least one surgical tool into a surgical environment of a human body. The 3D spatial position of the surgical tool within the surgical environment is estimated in real time, and movement of the surgical tool is detected. The spatial position of the surgical tool within the surgical environment is controlled using a controller, including by determining using image processing whether each of the detected movements is an ALLOWED movement or a RESTRICTED movement based on a predetermined rule stored in a database in communication with the controller.

Abstract: In a method of using a structured-light based system, real-time 2D images of a portion of a field of view are captured using an endoscope. A portion of an object in the field of view is illuminated with a structured light pattern, and light reflected from the field of view is detected. From the reflected light, a 3D image of the field of view is constructed, and 3D locations of points on a surface of the object are determined. The real time 3D spatial position of the endoscope and/or a surgical tool is determined. If a distance between the surface the endoscope and/or surgical tool, as determined using the 3D spatial position, falls below a predetermined distance, an alert is generated to notify a user.

Abstract: A method and system for controlling at least one robotically controlled surgical tool via vocal activation include detecting a vocal command generated by a surgeon, converting said at least one surgeon in said surgical setting via said voice sensor. The vocal command is converted to operative instructions associated with a robotically controlled surgical tool to generate instructions according to a predetermined set of rules including at least one of a no fly zone rule and collision prevention rule.

Abstract: A surgical system includes at least two laparoscopic instruments having distal portions positionable in a body cavity. An endoscopic camera is carried by a robotic automated assistant and is positionable in the body cavity to capture images of a surgical site and the distal portions of the laparoscopic instruments. At least one computerized platform is configured for receiving input from a user input device indicating a user selection of a selected one of the laparoscopic instruments, visually identifying the selected one of said laparoscopic instruments using a graphic designator on said displayed images of the surgical site, tracking the selected laparoscopic instrument using image information received from said endoscopic camera, and causing the automated assistant to maneuver the endoscopic camera so as to focus said endoscope on s the selected laparoscopic instrument.

Abstract: An intelligent surgical tool control system, comprising a tool management system; an indicating means to indicate at least one surgical event; a communicable database for storing, for each item of interest, its identity, its present 3D position and at least one previous 3D position; and at least one processor to identify, from a surgical event, an output surgical procedure. The tool management system can comprise a maneuvering mechanism to maneuver a surgical tool in at least two dimensions; and a controller to control at least one of activation and deactivation of a surgical tool and articulation of a surgical tool. The indicating means can indicate a surgical event selected from movement of a moving element and presence of an item of interest, where movement is determinable if the current 3D position of the moving element is substantially different from a previous 3D position of the same.

Abstract: A method and system for controlling at least one robotically controlled surgical tool via vocal activation include detecting a vocal command generated by a surgeon, converting said at least one surgeon in said surgical setting via said voice sensor. The vocal command is converted to operative instructions associated with a robotically controlled surgical tool to generate instructions according to a predetermined set of rules including at least one of a no fly zone rule and collision prevention rule.

Abstract: A surgical controlling system, comprising: at least one surgical tool configured to be inserted into a surgical environment of a human body; at least one location estimating means configured for real-time localization of the 3D spatial position of said at least one surgical tool at any given time t; at least one movement detection means communicable with a movement's database and with said location estimating means; a controller having a processing means communicable with a controller's database; said controller's database is in communication with said movement detection means; and at least one display configured to real time provide an image of at least a portion of said surgical environment; wherein said controller is configured to direct said surgical tool to said location via said instructions provided by said controller; further wherein said location is real time updated on said display as said at least one surgical tool is moved.

Abstract: The following invention is a vocally activated control system for controlling an apparatus in a surgical setting, the system comprises: a. a voice sensor configured to detect vocal commands generated by surgeons during surgery; b. a signal transmitter connected to the voice sensor, the transmitter is configured to convert a vocal command into a transmittable signal and transmit it; c. a processor connected to a signal transmitter configured to receive a transmittable vocal signal, the processor is configured to convert a vocal signal to a predetermined set of operative instructions associated with the apparatus, the predetermined set of operative instructions comprising at least one instruction; and d. control means connected to the processor and apparatus; the control means is configured to receive a predetermined set of operative instructions and to cause the apparatus to operate accordingly; Said voice sensor and said transmitter are integrated within a wearable element.

Abstract: A surgical controlling system for controlling the 3D spatial position of at least one articulating surgical tool includes a controller configured to provide instructions to control movement of the surgical tool. The controller comprises a processor to determine a location of the surgical tool using at least one location estimating feature and to determine movement of the surgical tool using a database in communication with at least one movement detection feature. The location estimating feature is configured to real-time locate the 3D spatial position of the surgical tool at any given time t, and the movement detection feature is configured to detect movement of the surgical tool.

Abstract: In a method of using a structured-light based system, real-time 2D images of a portion of a field of view are captured using an endoscope. A portion of an object in the field of view is illuminated with a structured light pattern, and light reflected from the field of view is detected. From the reflected light, a 3D image of the field of view is constructed, and 3D locations of points on a surface of the object are determined. The real time 3D spatial position of the endoscope and/or a surgical tool is determined. If a distance between the surface the endoscope and/or surgical tool, as determined using the 3D spatial position, falls below a predetermined distance, an alert is generated to notify a user.

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.

Abstract: The present invention provides a structured-light based system for providing a 3D image of at least one object within a field of view within a body cavity, comprising: a. An endoscope; b. at least one camera located in the endoscope's proximal end, configured to real-time provide at least one 2D image of at least a portion of said field of view by means of said at least one lens; c. a light source, configured to real-time illuminate at least a portion of said at least one object within at least a portion of said field of view with at least one time and space varying predetermined light pattern; and, d. a sensor configured to detect light reflected from said field of view; e. a computer program which, when executed by data processing apparatus, is configured to generate a 3D image of said field of view.

Abstract: The following invention is a vocally activated control system for controlling an apparatus in a surgical setting, the system comprises: a. a voice sensor configured to detect vocal commands generated by surgeons during surgery; b. a signal transmitter connected to the voice sensor, the transmitter is configured to convert a vocal command into a transmittable signal and transmit it; c. a processor connected to a signal transmitter configured to receive a transmittable vocal signal, the processor is configured to convert a vocal signal to a predetermined set of operative instructions associated with the apparatus, the predetermined set of operative instructions comprising at least one instruction; and d. control means connected to the processor and apparatus; the control means is configured to receive a predetermined set of operative instructions and to cause the apparatus to operate accordingly; Said voice sensor and said transmitter are integrated within a wearable element.

Abstract: A surgical system includes at least two laparoscopic instruments having distal portions positionable in a body cavity. An endoscopic camera is carried by a robotic automated assistant and is positionable in the body cavity to capture images of a surgical site and the distal portions of the laparoscopic instruments. At least one computerized platform is configured for receiving input from a user input device indicating a user selection of a selected one of the laparoscopic instruments, visually identifying the selected one of said laparoscopic instruments using a graphic designator on said displayed images of the surgical site, tracking the selected laparoscopic instrument using image information received from said endoscopic camera, and causing the automated assistant to maneuver the endoscopic camera so as to focus said endoscope on s the selected laparoscopic instrument.

Abstract: A method of controlling a surgical tool includes capturing, with an endoscope, real-time images of surgical tools in a field of view within the body cavity. Image processing of the images is performed in real time to detect movement of at least a portion of a first one of the surgical tools. The system determines if the detected movement is within one of the plurality of predetermined protocols of input movement and, if it is, a corresponding predetermined output commands is carried out such that a second one of the surgical tools is robotically maneuvered or activated.

Abstract: The following invention is a vocally activated control system for controlling an apparatus in a surgical setting, the system comprises: a. a voice sensor configured to detect vocal commands generated by surgeons during surgery; b. a signal transmitter connected to the voice sensor, the transmitter is configured to convert a vocal command into a transmittable signal and transmit it; c. a processor connected to a signal transmitter configured to receive a transmittable vocal signal, the processor is configured to convert a vocal signal to a predetermined set of operative instructions associated with the apparatus, the predetermined set of operative instructions comprising at least one instruction; and d. control means connected to the processor and apparatus; the control means is configured to receive a predetermined set of operative instructions and to cause the apparatus to operate accordingly; Said voice sensor and said transmitter are integrated within a wearable element.

Abstract: Methods of assisting an operator to perform a surgical procedure include inserting at least one surgical tool into a surgical environment of a human body. The 3D spatial position of the surgical tool within the surgical environment is estimated in real time, and movement of the surgical tool is detected. The spatial position of the surgical tool within the surgical environment is controlled using a controller, including by determining using image processing whether each of the detected movements is an ALLOWED movement or a RESTRICTED movement based on a predetermined rule stored in a database in communication with the controller.

Abstract: The present invention discloses a surgical maneuvering system, in which movement of a moving element is used to control a surgical device such as a surgical tool or an endoscope. The moving element can be a tool or a portion of an operator's body. The relationship between the moving element and the surgical device can be any of: motion of a moving element controlling motion of a surgical device, motion of a moving element controlling an action of a surgical device, a command of a moving element controlling motion of a surgical device, or a command of a moving element controlling an action of the device. Commands are typically arbitrary movements such as shaking a tool. Actions are changes in a surgical device that do not change its overall position, such as closing a grasper.

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.

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.