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公开(公告)号：EP2744419B1
公开(公告)日：2019-10-02
申请号：EP12825826.6
申请日：2012-08-21
发明人： SHOLEV, Mordehai , PFEFFER, Yehuda , FRIMER, Motti
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公开(公告)号：EP2819609A1
公开(公告)日：2015-01-07
申请号：EP13754731.1
申请日：2013-02-28
发明人： ATAROT, Gal , SHOLEV, Mordehai
IPC分类号： A61B19/00
摘要： The present invention provides a system for maneuvering an endoscope (SFME) during a medical procedure, comprising a. at least one maneuvering system, adapted to maneuver said endoscope in at least two degrees of freedom (DOF); and, b. at least one joystick unit in communication with said maneuvering system, adapted to operate said maneuvering system; wherein operation of said joystick results in movement of said endoscope by means of said maneuvering system.
摘要翻译： 本发明提供了一种用于在医疗过程期间操纵内窥镜（SFME）的系统，包括：a。 至少一个操纵系统，适于以至少两个自由度（DOF）操纵所述内窥镜; 和，b。 与所述操纵系统通信的至少一个操纵杆单元，其适于操作所述操纵系统; 其中所述操纵杆的操作通过所述操纵系统导致所述内窥镜的移动。
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3.发明公开Device and method for assisting laparoscopic surgery - rule based approach 审中-公开Vorrichtung und Verfahren zurUnterstützungvon laparoskopischer Chirurgie - regelbasierter Ansatz
公开(公告)号：EP2754383A2
公开(公告)日：2014-07-16
申请号：EP14150541.2
申请日：2014-01-09
发明人： Frimer, Motti , Sholev, Mordehai , Pfeffer, Yehuda
CPC分类号： A61B1/00006 , A61B1/00009 , A61B1/0016 , A61B1/3132 , A61B5/064 , A61B34/20 , A61B34/30 , A61B90/03 , A61B2034/2048 , A61B2090/365
摘要： The present invention provides a surgical controlling system, comprising at least one surgical tool adapted to be inserted into a surgical environment of a human body for assisting a surgical procedure, at least one location estimating means, at least one movement detection means and a controller adapted to control the spatial position of said at least one surgical tool. The controller's database is adapted to store a predetermined set of rules according to which ALLOWED and RESTRICTED movements of said at least one surgical tool are determined. Each detected movement of the at least one surgical tool is determined as either an ALLOWED movement or as a RESTRICTED movement according to the predetermined set of rules.
摘要翻译： 本发明提供了一种手术控制系统，其包括至少一个手术工具，其适于插入到人体的外科手术环境中以辅助外科手术，至少一个位置估计装置，至少一个移动检测装置和控制器 以控制所述至少一个外科手术工具的空间位置。 所述控制器的数据库适于存储所述至少一个外科手术工具的允许和限制的运动被确定的预定的一组规则。 每个检测到的至少一个手术工具的移动被确定为根据预定的一组规则的允许移动或限制移动。
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公开(公告)号：EP3440669A1
公开(公告)日：2019-02-13
申请号：EP17778802.3
申请日：2017-04-09
发明人： ATAROT, Gal , FRIMER, Motti , NIR, Tal , ALPERT, Lior
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公开(公告)号：EP2822445A1
公开(公告)日：2015-01-14
申请号：EP13757955.3
申请日：2013-03-07
发明人： ATAROT, Gal , LEVINSON, Yaron
IPC分类号： A61B1/00 , A61B1/04 , A61B5/05 , B25J3/00 , B25J13/08 , B25J19/02 , G06K9/00 , G06T15/00 , G06T17/00 , G09G5/00
CPC分类号： A61B1/045 , A61B1/00004 , A61B1/00009 , A61B1/00039 , A61B1/00147 , A61B34/35 , A61B90/37 , A61B2017/00026 , A61B2017/00075 , A61B2017/00084 , A61B2034/2048 , A61B2034/741 , A61B2034/742 , B25J13/08 , B25J19/021
摘要： The present invention provides a system for controlling an endoscope, comprising a. an endoscope adapted to provide real time images of FOV within a body cavity; said FOV defines FOVx-axis, FOVy-axis and FOVz-axis, b. a maneuvering system for maneuvering said endoscope; said maneuvering system defines an X-axis, a y-axis; and, a z-axis; c. control means adapted to receive commands of motions from a user to maneuver said endoscope; and d. a data processing system in communication with said control means, adapted to instruct said maneuvering system to maneuver said endoscope according to said commands of motions; wherein said data control means instructs said maneuvering system to maneuver said endoscope according to said commands of motions relative to said FOVx-axis, said FOVy-axis and said FOVz-axis, regardless of said X-axis, said y-axis and said z-axis as defined by said maneuvering system.
摘要翻译： 本发明提供了一种用于控制内窥镜的系统，包括：a。 适于在体腔内提供FOV的实时图像的内窥镜; 所述FOV定义FOVx轴，FOVy轴和FOVz轴，b。 操纵所述内窥镜的操纵系统; 所述操纵系统限定X轴，Y轴; 和z轴; C。 控制装置，适于接收来自用户的运动命令以操纵所述内窥镜; 和d。 与所述控制装置通信的数据处理系统，适于指示所述操纵系统根据所述运动指令操纵所述内窥镜; 其中所述数据控制装置指令所述操纵系统根据所述相对于所述FOVx轴，所述FOVy轴和所述FOVz轴的所述运动命令来操纵所述内窥镜，而与所述X轴，所述y轴和所述z无关 所述机动系统定义的轴。
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6.发明公开
公开(公告)号：EP2208463A1
公开(公告)日：2010-07-21
申请号：EP10150423.1
申请日：2010-01-11
发明人： Sholev, Mordehai
CPC分类号： A61B5/06 , A61B1/00149 , A61B1/3132 , A61B5/064 , A61B34/20 , A61B34/25 , A61B90/11 , A61B90/50 , A61B2017/3407 , A61B2034/2051 , A61B2090/3983
摘要： An interface between a surgeon and an automated assistant, wherein the interface comprises at least one array comprising N RF transmitters and at least one RF receiver provided with at least two directional antenna, as well as means for attaching said RF transmitter array to at least one surgical tool. Furthermore, the interface comprises a computerized operating system adapted to record the received signal strength (RSS) received by each antenna of said one RF receiver and to calculate therefrom the position of each of said N RF transmitters, and is further adapted to provide automatically the results of said calculation to said surgeon. The computerized operating system is adapted to calculate at least one of the parameters chosen from the group consisting of: (a) the angle from which the signal had been received; (b) the spatial location of said at least one surgical tool; (c) the path of said at least one surgical tool; (d) the spatial location of the point of insertion of said at least one surgical tool into the body of a patient; (e) the spatial location of the tip of said at least one surgical tool; (f) matching each RF transmitter code with each calculated spatial location of said at least one surgical tool and/or said tip of said at least one surgical tool. The computerized operating system performs said calculations and provides automatically the results of said calculations to the human operator of said interface. Furthermore, said calculation performed by said computerized operating system is a non-triangulation calculation. A method for locating and maneuvering a laparoscopic tool with the interface is also disclosed.
摘要翻译： 外科医生之间和自动化助理的接口，worin所述接口包括至少一个阵列，其包括N个射频发射器和设置有至少两个定向天线的至少一个RF接收器，以及用于连接所述射频发射器阵列，以至少一个 外科手术工具。 进一步，该接口包括一个计算机化的操作系统angepasst以记录由所述一个RF接收器中的每个天线，并从每个所述N个射频发射器的位置计算那里接收到的接收信号强度（RSS），并且是进一步angepasst自动将提供 计算结果所述至所述外科医生。 的计算机化操作系统angepasst计算选自所选择的参数中的至少一个：（a）其中所述信号已被接收到的angleFrom; （b）所述的空间位置的至少一个外科手术工具; （c）所述的路径中的至少一个外科手术工具; （d）所述的插入点的至少一个外科手术工具插入患者身体的空间位置; （E），所述至少一个外科手术工具的尖端的空间位置; （F）的匹配与所述的每个计算出的空间位置的至少一个外科所述的工具和/或尖端至少一个外科手术工具的每个RF发射机代码。 的计算机化操作系统执行计算和所述自动提供所述到所述接口的人类操作员计算的结果。 此外多个时，所述计算来执行由所述计算机化的操作系统是一个非三角测量计算。 一种用于定位和操纵与所述接口腹腔镜工具的方法是这样游离缺失盘。
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公开(公告)号：EP2744389B1
公开(公告)日：2019-10-30
申请号：EP12824946.3
申请日：2012-08-21
发明人： SHOLEV, Mordehai , PFEFFER, Udi , FRIMER, Motti
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公开(公告)号：EP3166468A1
公开(公告)日：2017-05-17
申请号：EP15818179.2
申请日：2015-07-09
发明人： ATAROT, Gal , FRIMER, Motti , NIR, Tal , HAREL, Tami
CPC分类号： A61B5/1114 , A61B1/00147 , A61B1/3132 , A61B5/0035 , A61B5/06 , A61B5/7425 , A61B5/7475 , A61B34/25 , A61B2017/00119 , A61B2017/00207 , A61B2034/2048 , A61B2505/05 , A61B2560/0487 , A61B2562/0219 , A61B2562/028
摘要： 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.
摘要翻译： 本发明公开了一种手术操纵系统，其中运动元件的运动被用于控制诸如手术工具或内窥镜的手术装置。 移动元件可以是工具或操作者身体的一部分。 移动元件和手术装置之间的关系可以是以下任一种：控制手术装置的运动的移动元件的运动，控制手术装置的动作的移动元件的运动，控制手术装置的运动的移动元件的命令 手术装置或控制装置的动作的移动元件的命令。 命令通常是任意的动作，例如摇动工具。 动作是手术器械中不改变其整体位置的变化，如关闭抓握器。
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9.发明公开MEANS AND METHODS OF IMPROVING LAPAROSCOPIC SURGERY 有权MITTEL UND VERFAHREN ZUR VERBESSERUNG DER LAPAROSKOPISCHEN CHIRURGIE
公开(公告)号：EP2992811A1
公开(公告)日：2016-03-09
申请号：EP15178988.0
申请日：2006-04-20
发明人： Sholev, Mordehai
CPC分类号： A61B1/3132 , A61B1/00016 , A61B1/00149 , A61B17/00234 , A61B34/25 , A61B34/30 , A61B34/70 , A61B34/74 , A61B90/361 , A61B90/50 , A61B2017/00221 , A61B2017/00991 , A61B2017/3409 , A61B2034/305
摘要： The present invention discloses means and methods for improving the interface between the surgeon and an endoscope system for laparoscopic surgery, holding a laparoscopic camera and/or controlling automated endoscope assistant. The means comprises at least one wireless transmitter with at least one operating key; at least one wireless receiver; at least one conventional laparoscopy computerized system loaded with conventional surgical instrument spatial location software, and conventional automated assistant maneuvering software, software loaded onto to the conventional laparoscopy system that enables a visual response to the depression of at least one key on the wireless transmitter as well as an interface with the conventional automated assistant maneuvering software so as to achieve movement of the endoscope, and at least one video screen.
摘要翻译： 本发明公开了用于改善外科医生和用于腹腔镜手术的内窥镜系统之间的界面的手段和方法，保持腹腔镜照相机和/或控制自动内窥镜助手。 所述装置包括具有至少一个操作密钥的至少一个无线发射机; 至少一个无线接收器; 至少一个常规的腹腔镜计算机系统，其装有常规手术器械空间定位软件，以及常规的自动辅助操纵软件，加载到常规腹腔镜检查系统上的软件，其能够对无线发射器上的至少一个键的按压进行视觉响应 作为与常规自动辅助操纵软件的接口，以实现内窥镜的移动，以及至少一个视频屏幕。
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公开(公告)号：EP2943109A1
公开(公告)日：2015-11-18
申请号：EP14737485.4
申请日：2014-01-08
发明人： ATAROT, Gal , KARVAT, Shlomi
IPC分类号： A61B1/00
CPC分类号： A61B1/0016 , A61B1/00149 , A61B90/50 , A61B2034/301
摘要： The present invention provides a device for supporting and positioning an endoscope maneuvering system, the device connectable to a fixed support, the device comprising: a. a support mechanism releasably connectable to said endoscope maneuvering system; b. at least one movable arm comprising at least one first jointed connection to said support mechanism, said at least one movable arm adapted to position and orient said endoscope maneuvering system; and c. a base connector comprising at least one second jointed connection to said at least one movable arm, said base connector fixedly connectable to said fixed support; wherein said device is adapted to maintain said endoscope maneuvering system in a state of quasi-static dynamic equilibrium.
摘要翻译： 本发明提供了一种用于支撑和定位内窥镜操纵系统的装置，所述装置可连接到固定支撑件，所述装置包括：a。 可释放地连接到所述内窥镜操纵系统的支撑机构; 湾 至少一个可移动臂，包括至少一个第一连接到所述支撑机构的连接，所述至少一个可移动臂适于定位和定向所述内窥镜操纵系统; 和c。 基座连接器，其包括与所述至少一个可动臂的至少一个第二接合连接，所述基座连接器可固定地连接到所述固定支撑件; 其中所述装置适于将所述内窥镜操纵系统保持在准静态动态平衡状态。
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