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 system and method allow creation of surgical annotations during surgery. A digital image of a treatment site in a region of patient anatomy is captured using a camera and is displayed on an image display. The system displays an overlay marking an anatomic region of interest in the displayed image. During the course of the surgery, panning of the image results in the anatomic region of interest being outside the displayed field of view. In response to user input, the displayed image is subsequently panned such that the anatomic region of interest and the displayed overlay return to the displayed field of view.

Abstract: Surgical assistance is provided in the form of an image of the surgical site that has overlays marking anatomical structures of interest to the surgeon. The system uses computer vision to detect the anatomical structures of interest that are visible to the camera, and predicts the location, shape and/or orientation of portions of the anatomical structures that are not visible to the camera. The overlays mark both the visible portions of the anatomical structures and the predicted location, shape and orientation of the invisible portions.

Abstract: Calibration of parameters of an endoscopic or laparoscopic camera is conducted while the camera is in use capturing images of a surgical procedure at a surgical site. The surgical procedure is performed using a surgical instrument marked with a fiducial pattern. A processor receives image data from images captured by the camera and uses machine vision to detect points of the pattern, and carries out an optimization to determine the 3D pose of the surgical instrument relative to the camera and the camera parameters.

Abstract: A system and method for measuring an area of interest such as a hernia defect within a body cavity, in which real time image data is captured at a treatment site that includes the area of interest. Computer vision is applied to identify the extents of the area of interest within images captured using the camera, and dimensions of the area of interest are measured using the image data. The user is given output, which may include recommendations of hernia mesh shape/size and or positioning, based on the measured dimensions.

Abstract: A system and method for measuring an area of interest within a body cavity, in which real time image data is captured at a treatment site that includes the area of interest. Computer vision is applied to identify the extents of the area of interest within images captured using the camera, and dimensions of the area of interest are measured using the image data. The user is given output as to the area of the area of interest. The system may calculate a cumulative total of the estimated areas of areas of interest measured or treated within the treatment site.

Abstract: Intrinsic and extrinsic calibration parameters are determined in real time for a camera positioned to capture images of a surgical site in a body cavity. The camera is positioned on a manipulator arm and used to capture a plurality of frames of images of the surgical site using the at least one camera while moving the camera within the body cavity. 3D position information corresponding to positions of the camera is recorded during capture of said images. A plurality of features between two or more frames of the captured images are matched, and a 3D structure of the plurality of features is reconstructed using multi-frame triangulation. A penalty measure is estimated using a reprojection error. The distance in the image plane between the projected 3D feature and the measurement. Intrinsic calibration parameters are estimated for the at least one camera, and refined to minimize the penalty measure.

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: A system for measuring distances within a surgical site includes a camera positionable to capture 3D image data corresponding to a treatment site. Using the image data, the system determines the relative 3D positions of identified measurement points at the treatment site captured in the images, and it estimates or determines the distance between the measurement points. Output is generated communicating the measured distances to the user. The measurement taken follows the 3D topography of the tissue positioned between the measurement points.

Abstract: A system for correcting illumination in an image includes a light source positioned to illuminate scene points and a camera positionable to capture images of the scene points. The system determines a distance between each of a plurality of scene points and the light source, computes an enhanced light compensated image of the plurality of scene points, and displaying the enhanced light compensated image on an image display.

Abstract: The present invention provides a system for altering the field of view of an endoscope image, comprising: at least one endoscope having a wide-angle lens in said endoscope's distal end; at least one camera located in said endoscope's proximal end, adapted to image a field of view of said endoscope image by means of said wide-angle lens; and a computer program which, when executed by data processing apparatus, is configured to select at least a portion of said field of view; wherein said portion of said field of view is selectable without physically maneuvering said endoscope or said wide-angle lens such that a virtual maneuvering of said field of view is provided.

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 system for altering the field of view of an endoscope image, comprising: an endoscope with a wide-angle lens in its distal end and a camera in its proximal end. The wide angle lens provides images of the endoscope's field of view. A processor, by selecting a portion of the endoscope's field of view, enables virtual maneuvering of a display field of view without physically maneuvering the endoscope or the wide-angle lens.

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: 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.