Device and method for assisting laparoscopic surgery—rule based approach
First Claim
1. A surgical tracking system for assisting an operator to perform a laparoscopic surgery of a human body, said surgical tracking system comprising:
- at least one endoscope configured to acquire real-time images of a surgical environment within said human body;
an automated maneuvering subsystem configured to control the spatial position of said endoscope during said laparoscopic surgery; and
,an automated tracking subsystem in communication with said automated maneuvering subsystem, configured to control the automated maneuvering subsystem so as to direct and modify the spatial position of said endoscope to a region of interest;
wherein said automated tracking subsystem comprises a data processor;
said data processor is configured to perform real-time image processing of said surgical environment and to instruct said automated maneuvering subsystem to modify the spatial position of said endoscope according to input received from a maneuvering function f(t);
said maneuvering function f(t) is configured to (a) receive input from at least two instructing functions gi(t), where i is 1, . . . , n and n≥
2;
where t is time;
i and n are integers, said instructing functions gi(t) being functions configured to assess said surgical environment of said at least one endoscope and said laparoscopic surgery, and to output data configured to guide said tracking subsystem; and
, to (b) output instructions to said automated maneuvering subsystem based on said input from said at least two instructing functions gi(t), so as to spatially position said endoscope to said region of interest;
wherein each of said instructing functions gi(t) is weighted by a weighting function α
i(t);
further wherein said weighting functions α
i(t) are time-varying functions, wherein the value of which at said time t is determined by said operator, said instructing functions gi(t) and any combination thereof, said weighting functions α
i(t) being configured to arbitrate between said at least two instructing functions gi(t) to move said automated maneuvering system.
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Accused Products
Abstract
The present invention provides a surgical tracking system for assisting an operator to perform a laparoscopic surgery of a human body, said surgical tracking system comprising: a. at least one endoscope adapted to acquire real-time images of a surgical environment within said human body; b. a maneuvering subsystem adapted to control the spatial position of said endoscope during said laparoscopic surgery; and, c. a tracking subsystem in communication with said maneuvering subsystem, adapted to control the maneuvering system so as to direct and modify the spatial position of said endoscope to a region of interest.
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Citations
44 Claims
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1. A surgical tracking system for assisting an operator to perform a laparoscopic surgery of a human body, said surgical tracking system comprising:
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at least one endoscope configured to acquire real-time images of a surgical environment within said human body; an automated maneuvering subsystem configured to control the spatial position of said endoscope during said laparoscopic surgery; and
,an automated tracking subsystem in communication with said automated maneuvering subsystem, configured to control the automated maneuvering subsystem so as to direct and modify the spatial position of said endoscope to a region of interest; wherein said automated tracking subsystem comprises a data processor;
said data processor is configured to perform real-time image processing of said surgical environment and to instruct said automated maneuvering subsystem to modify the spatial position of said endoscope according to input received from a maneuvering function f(t);
said maneuvering function f(t) is configured to (a) receive input from at least two instructing functions gi(t), where i is 1, . . . , n and n≥
2;
where t is time;
i and n are integers, said instructing functions gi(t) being functions configured to assess said surgical environment of said at least one endoscope and said laparoscopic surgery, and to output data configured to guide said tracking subsystem; and
, to (b) output instructions to said automated maneuvering subsystem based on said input from said at least two instructing functions gi(t), so as to spatially position said endoscope to said region of interest;
wherein each of said instructing functions gi(t) is weighted by a weighting function α
i(t);
further wherein said weighting functions α
i(t) are time-varying functions, wherein the value of which at said time t is determined by said operator, said instructing functions gi(t) and any combination thereof, said weighting functions α
i(t) being configured to arbitrate between said at least two instructing functions gi(t) to move said automated maneuvering system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A method for assisting an operator to perform a laparoscopic surgery of a human body, method comprising steps of:
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providing a surgical tracking system, comprising;
(i) at least one endoscope configured to acquire real-time images of a surgical environment within said human body;
(ii) an automated maneuvering subsystem in communication with said endoscope; and
, (iii) an automated tracking subsystem in communication with said automated maneuvering subsystem, said automated tracking subsystem comprises a data processor;performing real-time image processing of said surgical environment; and controlling said automated maneuvering subsystem via said automated tracking subsystem, thereby directing and modifying the spatial position of said endoscope to a region of interest according to input received from a maneuvering function f(t); wherein said maneuvering function f(t) is configured to (a) receive input from at least two instructing functions gi(t), where i is 1, . . . , n and n≥
2;
where t is time;
i and n are integers, said instructing functions gi(t) being functions configured to assess said surgical environment of said at least one endoscope and said laparoscopic surgery, and to output data configured to guide said tracking subsystem; and
, to (b) output instructions to said automated maneuvering subsystem based on said input from said at least two instructing functions gi(t), so as to spatially position said endoscope to said region of interest;
wherein each of said instructing functions gi(t) is weighted by a weighting function α
i(t);
further wherein said weighting functions α
i(t) are time-varying functions, wherein the value of which at said time t is determined by said operators, said instructing functions gi(t) and any combination thereof, said weighting functions α
i(t) being configured to arbitrate between said at least two instructing functions gi(t) to move said automated maneuvering system. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44)
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Specification