Device and method for assisting laparoscopic surgery rule based approach
First Claim
Patent Images
1. A method for assisting an operator to perform a surgical procedure, comprising steps of:
- a. providing a surgical controlling system, comprising;
(i) at least one surgical tool;
(ii) at least one location estimating means;
(iii) at least one movement detection means; and
, (iv) a controller having a processing means communicable with a controller'"'"'s database;
b. inserting said at least one surgical tool into a surgical environment of a human body;
c. real-time estimating the location of said at least one surgical tool within said surgical environment at any given time t; and
,d. detecting if there is movement of said at least one surgical tool if a 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time to;
e. controlling the spatial position of said at least one surgical tool within said surgical environment by means of said controller;
wherein said step of controlling is performed by storing a predetermined set of rules in a controller'"'"'s database;
said predetermined set of rules comprises ALLOWED and RESTRICTED movements of said at least one surgical tool, such that each detected movement by said movement detection means of said at least one surgical tool is determined as either an ALLOWED movement or as a RESTRICTED movement according to said predetermined set of rules;
further comprising a step of selecting said predetermined set of rules from a group consisting of;
most used tool, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, an environmental rule, an operator input rule, a proximity rule;
a collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, a history-based rule, a tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;
wherein said route rule comprises a communicable database storing predefined route in which said at least one surgical tool is configured to move within said surgical environment;
said predefined route comprises n 3D spatial positions of said at least one surgical tool;
n is an integer greater than or equal to 2;
said ALLOWED movements are movements in which said at least one surgical tool is located substantially in at least one of said n 3D spatial positions of said predefined route, and said RESTRICTED movements are movements in which the location of said at least one surgical tool is substantially different from said n 3D spatial positions of said predefined route.
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Abstract
The present invention provides a surgical controlling system and method for improving the interface between the surgeon and the laparoscopic surgery system. The invention includes one or more surgical tools that are inserted into the human body, a tracking system to locate the tool and detect its movement, and a processing system capable of controlling the location of the tool.
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Citations
48 Claims
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1. A method for assisting an operator to perform a surgical procedure, comprising steps of:
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a. providing a surgical controlling system, comprising;
(i) at least one surgical tool;
(ii) at least one location estimating means;
(iii) at least one movement detection means; and
, (iv) a controller having a processing means communicable with a controller'"'"'s database;b. inserting said at least one surgical tool into a surgical environment of a human body; c. real-time estimating the location of said at least one surgical tool within said surgical environment at any given time t; and
,d. detecting if there is movement of said at least one surgical tool if a 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time to; e. controlling the spatial position of said at least one surgical tool within said surgical environment by means of said controller; wherein said step of controlling is performed by storing a predetermined set of rules in a controller'"'"'s database;
said predetermined set of rules comprises ALLOWED and RESTRICTED movements of said at least one surgical tool, such that each detected movement by said movement detection means of said at least one surgical tool is determined as either an ALLOWED movement or as a RESTRICTED movement according to said predetermined set of rules;further comprising a step of selecting said predetermined set of rules from a group consisting of;
most used tool, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, an environmental rule, an operator input rule, a proximity rule;
a collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, a history-based rule, a tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said route rule comprises a communicable database storing predefined route in which said at least one surgical tool is configured to move within said surgical environment;
said predefined route comprises n 3D spatial positions of said at least one surgical tool;
n is an integer greater than or equal to 2;
said ALLOWED movements are movements in which said at least one surgical tool is located substantially in at least one of said n 3D spatial positions of said predefined route, and said RESTRICTED movements are movements in which the location of said at least one surgical tool is substantially different from said n 3D spatial positions of said predefined route. - View Dependent Claims (2, 3, 4)
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5. A method for assisting an operator to perform a surgical procedure, comprising steps of:
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a. providing a surgical controlling system, comprising;
(i) at least one surgical tool;
(ii) at least one location estimating means;
(iii) at least one movement detection means; and
, (iv) a controller having a processing means communicable with a controller'"'"'s database;b. inserting said at least one surgical tool into a surgical environment of a human body; c. real-time estimating the location of said at least one surgical tool within said surgical environment at any given time t; and
,d. detecting if there is movement of said at least one surgical tool if a 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time to; e. controlling the spatial position of said at least one surgical tool within said surgical environment by means of said controller; wherein said step of controlling is performed by storing a predetermined set of rules in a controller'"'"'s database;
said predetermined set of rules comprises ALLOWED and RESTRICTED movements of said at least one surgical tool, such that each detected movement by said movement detection means of said at least one surgical tool is determined as either an ALLOWED movement or as a RESTRICTED movement according to said predetermined set of rules;further comprising a step of selecting said predetermined set of rules from a group consisting of;
most used tool, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, an environmental rule, an operator input rule, a proximity rule;
a collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, a history-based rule, a tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said environmental rule comprises a comprises a communicable database;
said communicable database is configured to received real-time image of said surgical environment and is configured to perform real-time image processing of the same and to determine said 3D spatial position of hazards or obstacles in said surgical environment;
said environmental rule is configured to determine said ALLOWED and RESTRICTED movements according to said hazards or obstacles in said surgical environment, such that said RESTRICTED movements are movements in which said at least one surgical tool is located substantially in at least one of said 3D spatial positions, and said ALLOWED movements are movements in which the location of said at least one surgical tool is substantially different from said 3D spatial positions;
further wherein said hazards or obstacles in said surgical environment are selected from a group consisting of tissue, a surgical tool, an organ, an endoscope and any combination thereof. - View Dependent Claims (6, 7, 8)
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9. A method for assisting an operator to perform a surgical procedure, comprising steps of:
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a. providing a surgical controlling system, comprising;
(i) at least one surgical tool;
(ii) at least one location estimating means;
(iii) at least one movement detection means; and
, (iv) a controller having a processing means communicable with a controller'"'"'s database;b. inserting said at least one surgical tool into a surgical environment of a human body; c. real-time estimating the location of said at least one surgical tool within said surgical environment at any given time t; and
,d. detecting if there is movement of said at least one surgical tool if a 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time to; e. controlling the spatial position of said at least one surgical tool within said surgical environment by means of said controller; wherein said step of controlling is performed by storing a predetermined set of rules in a controller'"'"'s database;
said predetermined set of rules comprises ALLOWED and RESTRICTED movements of said at least one surgical tool, such that each detected movement by said movement detection means of said at least one surgical tool is determined as either an ALLOWED movement or as a RESTRICTED movement according to said predetermined set of rules;further comprising a step of selecting said predetermined set of rules from a group consisting of;
most used tool, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, an environmental rule, an operator input rule, a proximity rule;
a collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, a history-based rule, a tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said operator input rule comprises a communicable database;
said communicable database is configured to receive an input from the operator of said system regarding said ALLOWED and said RESTRICTED movements of said at least one surgical tool;
said operator input rule converts said ALLOWED movement to said RESTRICTED movement and said RESTRICTED movement to said ALLOWED movement;
further wherein at least one of the following is being held true (a) said input comprises n 3D spatial positions;
n is an integer greater than or equal to 2;
wherein at least one of which is defined as ALLOWED location and at least one of which is defined as RESTRICTED location, such that said ALLOWED movements are movements in which said at least one surgical tool is located substantially in at least one of said n 3D spatial positions, and said RESTRICTED movements are movements in which the location of said at least one surgical tool is substantially different from said n 3D spatial positions;
(b) said input comprises at least one predetermined rule according to which ALLOWED and RESTRICTED movements of said at least one surgical tool are determined, such that the spatial position of said at least one surgical tool is controlled by said controller according to said ALLOWED and RESTRICTED movements;
said predetermined rules is selected from a group consisting of;
most used tool, right tool rule, left tool rule, field of view rule, no fly zone rule, preferred volume zone rule, a preferred tool rule, a route rule, an environmental rule, an operator input rule, a proximity rule;
a collision prevention rule, a history-based rule, a tool-dependent ALLOWED and RESTRICTED movements rule, and any combination thereof. - View Dependent Claims (10, 11, 12, 46)
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13. A method for assisting an operator to perform a surgical procedure, comprising steps of:
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a. providing a surgical controlling system, comprising;
(i) at least one surgical tool;
(ii) at least one location estimating means;
(iii) at least one movement detection means; and
, (iv) a controller having a processing means communicable with a controller'"'"'s database;b. inserting said at least one surgical tool into a surgical environment of a human body; c. real-time estimating the location of said at least one surgical tool within said surgical environment at any given time t; and
,d. detecting if there is movement of said at least one surgical tool if a 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time to; e. controlling the spatial position of said at least one surgical tool within said surgical environment by means of said controller; wherein said step of controlling is performed by storing a predetermined set of rules in a controller'"'"'s database;
said predetermined set of rules comprises ALLOWED and RESTRICTED movements of said at least one surgical tool, such that each detected movement by said movement detection means of said at least one surgical tool is determined as either an ALLOWED movement or as a RESTRICTED movement according to said predetermined set of rules;further comprising a step of selecting said predetermined set of rules from a group consisting of;
most used tool, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, an environmental rule, an operator input rule, a proximity rule;
a collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, a history-based rule, a tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said proximity rule is configured to define a predetermined distance between at least two surgical tools;
said ALLOWED movements are movements which are within the range or out of the range of said predetermined distance, and said RESTRICTED movements which are out of the range or within the range of said predetermined distance. - View Dependent Claims (14, 15, 16)
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17. A method for assisting an operator to perform a surgical procedure, comprising steps of:
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a. providing a surgical controlling system, comprising;
(i) at least one surgical tool;
(ii) at least one location estimating means;
(iii) at least one movement detection means; and
, (iv) a controller having a processing means communicable with a controller'"'"'s database;b. inserting said at least one surgical tool into a surgical environment of a human body; c. real-time estimating the location of said at least one surgical tool within said surgical environment at any given time t; and
,d. detecting if there is movement of said at least one surgical tool if a 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time to; e. controlling the spatial position of said at least one surgical tool within said surgical environment by means of said controller; wherein said step of controlling is performed by storing a predetermined set of rules in a controller'"'"'s database;
said predetermined set of rules comprises ALLOWED and RESTRICTED movements of said at least one surgical tool, such that each detected movement by said movement detection means of said at least one surgical tool is determined as either an ALLOWED movement or as a RESTRICTED movement according to said predetermined set of rules;further comprising a step of selecting said predetermined set of rules from a group consisting of;
most used tool, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, an environmental rule, an operator input rule, a proximity rule;
a collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, a history-based rule, a tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said proximity rule is configured to define a predetermined angle between at least three surgical tools;
said ALLOWED movements are movements which are within the range or out of the range of said predetermined angle, and said RESTRICTED movements which are out of the range or within the range of said predetermined angle. - View Dependent Claims (18, 19, 20)
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21. A method for assisting an operator to perform a surgical procedure, comprising steps of:
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a. providing a surgical controlling system, comprising;
(i) at least one surgical tool;
(ii) at least one location estimating means;
(iii) at least one movement detection means; and
, (iv) a controller having a processing means communicable with a controller'"'"'s database;b. inserting said at least one surgical tool into a surgical environment of a human body; c. real-time estimating the location of said at least one surgical tool within said surgical environment at any given time t; and
,d. detecting if there is movement of said at least one surgical tool if a 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time to; e. controlling the spatial position of said at least one surgical tool within said surgical environment by means of said controller; wherein said step of controlling is performed by storing a predetermined set of rules in a controller'"'"'s database;
said predetermined set of rules comprises ALLOWED and RESTRICTED movements of said at least one surgical tool, such that each detected movement by said movement detection means of said at least one surgical tool is determined as either an ALLOWED movement or as a RESTRICTED movement according to said predetermined set of rules;further comprising a step of selecting said predetermined set of rules from a group consisting of;
most used tool, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, an environmental rule, an operator input rule, a proximity rule;
a collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, a history-based rule, a tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said collision prevention rule is configured to define a predetermined distance between said at least one surgical tool and an anatomical element within said surgical environment;
said ALLOWED movements are movements which are in a range that is larger than said predetermined distance, and said RESTRICTED movements are movements which is in a range that is smaller than said predetermined distance;
wherein said anatomical element is selected from a group consisting of tissue, organ, another surgical tool and any combination thereof. - View Dependent Claims (22, 23, 24)
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25. A method for assisting an operator to perform a surgical procedure, comprising steps of:
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a. providing a surgical controlling system, comprising;
(i) at least one surgical tool;
(ii) at least one location estimating means;
(iii) at least one movement detection means; and
, (iv) a controller having a processing means communicable with a controller'"'"'s database;b. inserting said at least one surgical tool into a surgical environment of a human body; c. real-time estimating the location of said at least one surgical tool within said surgical environment at any given time t; and
,d. detecting if there is movement of said at least one surgical tool if a 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time to; e. controlling the spatial position of said at least one surgical tool within said surgical environment by means of said controller; wherein said step of controlling is performed by storing a predetermined set of rules in a controller'"'"'s database;
said predetermined set of rules comprises ALLOWED and RESTRICTED movements of said at least one surgical tool, such that each detected movement by said movement detection means of said at least one surgical tool is determined as either an ALLOWED movement or as a RESTRICTED movement according to said predetermined set of rules;further comprising a step of selecting said predetermined set of rules from a group consisting of;
most used tool, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, an environmental rule, an operator input rule, a proximity rule;
a collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, a history-based rule, a tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said no fly zone rule comprises n 3D spatial positions;
n is an integer greater than or equal to 2;
said n 3D spatial positions define a predetermined volume within said surgical environment;
said no fly zone rule is configured to determine said RESTRICTED movement if said movement is within said no fly zone and said ALLOWED movement if said movement is outside said no fly zone, such that said RESTRICTED movements are movements in which said at least one of said surgical tool is located substantially in at least one of said n 3D spatial positions, and said ALLOWED movements are movements in which the location of said at least one surgical tool is substantially different from said n 3D spatial positions. - View Dependent Claims (26, 27, 28)
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29. A method for assisting an operator to perform a surgical procedure, comprising steps of:
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a. providing a surgical controlling system, comprising;
(i) at least one surgical tool;
(ii) at least one location estimating means;
(iii) at least one movement detection means; and
, (iv) a controller having a processing means communicable with a controller'"'"'s database;b. inserting said at least one surgical tool into a surgical environment of a human body; c. real-time estimating the location of said at least one surgical tool within said surgical environment at any given time t; and
,d. detecting if there is movement of said at least one surgical tool if a 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time to; e. controlling the spatial position of said at least one surgical tool within said surgical environment by means of said controller; wherein said step of controlling is performed by storing a predetermined set of rules in a controller'"'"'s database;
said predetermined set of rules comprises ALLOWED and RESTRICTED movements of said at least one surgical tool, such that each detected movement by said movement detection means of said at least one surgical tool is determined as either an ALLOWED movement or as a RESTRICTED movement according to said predetermined set of rules;further comprising a step of selecting said predetermined set of rules from a group consisting of;
most used tool, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, an environmental rule, an operator input rule, a proximity rule;
a collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, a history-based rule, a tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said most used tool rule comprises a database counting the amount of movement of each of said surgical tools;
said most used tool rule is configured to constantly position said endoscope to track the movement of the most moved surgical tool. - View Dependent Claims (30, 31, 32)
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33. A method for assisting an operator to perform a surgical procedure, comprising steps of:
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a. providing a surgical controlling system, comprising;
(i) at least one surgical tool;
(ii) at least one location estimating means;
(iii) at least one movement detection means; and
, (iv) a controller having a processing means communicable with a controller'"'"'s database;b. inserting said at least one surgical tool into a surgical environment of a human body; c. real-time estimating the location of said at least one surgical tool within said surgical environment at any given time t; and
,d. detecting if there is movement of said at least one surgical tool if a 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time to; e. controlling the spatial position of said at least one surgical tool within said surgical environment by means of said controller; wherein said step of controlling is performed by storing a predetermined set of rules in a controller'"'"'s database;
said predetermined set of rules comprises ALLOWED and RESTRICTED movements of said at least one surgical tool, such that each detected movement by said movement detection means of said at least one surgical tool is determined as either an ALLOWED movement or as a RESTRICTED movement according to said predetermined set of rules;further comprising a step of selecting said predetermined set of rules from a group consisting of;
most used tool, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, an environmental rule, an operator input rule, a proximity rule;
a collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, a history-based rule, a tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;additionally comprising step of alerting said physician of a RESTRICTED movements of said at least one surgical tool;
said step of alerting is performed by at least one selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof. - View Dependent Claims (34, 35, 36)
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37. A method for assisting an operator to perform a surgical procedure, comprising steps of:
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a. providing a surgical controlling system, comprising;
(i) at least one surgical tool;
(ii) at least one location estimating means;
(iii) at least one movement detection means; and
, (iv) a controller having a processing means communicable with a controller'"'"'s database;b. inserting said at least one surgical tool into a surgical environment of a human body; c. real-time estimating the location of said at least one surgical tool within said surgical environment at any given time t; and
,d. detecting if there is movement of said at least one surgical tool if a 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time to; e. controlling the spatial position of said at least one surgical tool within said surgical environment by means of said controller; wherein said step of controlling is performed by storing a predetermined set of rules in a controller'"'"'s database;
said predetermined set of rules comprises ALLOWED and RESTRICTED movements of said at least one surgical tool, such that each detected movement by said movement detection means of said at least one surgical tool is determined as either an ALLOWED movement or as a RESTRICTED movement according to said predetermined set of rules;further comprising a step of selecting said predetermined set of rules from a group consisting of;
most used tool, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, an environmental rule, an operator input rule, a proximity rule;
a collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, a history-based rule, a tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said history-based rule comprises a communicable database storing each of said 3D spatial position of each of said surgical tool, such that each movement of each surgical tool is stored;
said history-based rule is configured to determine said ALLOWED and RESTRICTED movements according to historical movements of said at least one surgical tool, such that said ALLOWED movements are movements in which said at least one surgical tool is located substantially in at least one of said 3D spatial positions, and said RESTRICTED movements are movements in which the location of said at least one surgical tool is substantially different from said n 3D spatial positions. - View Dependent Claims (38, 39, 40)
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41. A method for assisting an operator to perform a surgical procedure, comprising steps of:
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a. providing a surgical controlling system, comprising;
(i) at least one surgical tool;
(ii) at least one location estimating means;
(iii) at least one movement detection means; and
, (iv) a controller having a processing means communicable with a controller'"'"'s database;b. inserting said at least one surgical tool into a surgical environment of a human body; c. real-time estimating the location of said at least one surgical tool within said surgical environment at any given time t; and
,d. detecting if there is movement of said at least one surgical tool if a 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time to; e. controlling the spatial position of said at least one surgical tool within said surgical environment by means of said controller; wherein said step of controlling is performed by storing a predetermined set of rules in a controller'"'"'s database;
said predetermined set of rules comprises ALLOWED and RESTRICTED movements of said at least one surgical tool, such that each detected movement by said movement detection means of said at least one surgical tool is determined as either an ALLOWED movement or as a RESTRICTED movement according to said predetermined set of rules;further comprising a step of selecting said predetermined set of rules from a group consisting of;
most used tool, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, an environmental rule, an operator input rule, a proximity rule;
a collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, a history-based rule, a tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said tool-dependent ALLOWED and RESTRICTED movements rule comprises a communicable database;
said communicable database is configured to store predetermined characteristics of at least one of said surgical tool;
said tool-dependent ALLOWED and RESTRICTED movements rule is configured to determine said ALLOWED and RESTRICTED movements according to said predetermined characteristics of said surgical tool;
said predetermined characteristics of said surgical tool are selected from a group consisting of;
physical dimensions, structure, weight, sharpness, and any combination thereof. - View Dependent Claims (42, 43, 44)
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45. A method for assisting an operator to perform a surgical procedure, comprising steps of:
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a. providing a surgical controlling system, comprising;
(i) at least one surgical tool;
(ii) at least one location estimating means;
(iii) at least one movement detection means; and
, (iv) a controller having a processing means communicable with a controller'"'"'s database;b. inserting said at least one surgical tool into a surgical environment of a human body; c. real-time estimating the location of said at least one surgical tool within said surgical environment at any given time t; and
,d. detecting if there is movement of said at least one surgical tool if a 3D spatial position of said at least one surgical tool at time tf is different than said 3D spatial position of said at least one surgical tool at time to; e. controlling the spatial position of said at least one surgical tool within said surgical environment by means of said controller; wherein said step of controlling is performed by storing a predetermined set of rules in a controller'"'"'s database;
said predetermined set of rules comprises ALLOWED and RESTRICTED movements of said at least one surgical tool, such that each detected movement by said movement detection means of said at least one surgical tool is determined as either an ALLOWED movement or as a RESTRICTED movement according to said predetermined set of rules;further comprising a step of selecting said predetermined set of rules from a group consisting of;
most used tool, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, an environmental rule, an operator input rule, a proximity rule;
a collision prevention rule, preferred volume zone rule, preferred tool rule, movement detection rule, a history-based rule, a tool-dependent ALLOWED and RESTRICTED movements rule, tagged tool rule, change of speed rule and any combination thereof;wherein said movement detection rule comprises a communicable database comprising the real-time 3D spatial positions of each of said surgical tool; and
to detect movement of said at least one surgical tool when a change in said 3D spatial positions is received, such that said ALLOWED movements are movements in which said endoscope is directed to focus on the moving surgical tool. - View Dependent Claims (47, 48)
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Specification