公开(公告)号：WO2017098506A8

公开(公告)日：2017-06-15

申请号：PCT/IL2016/051307

申请日：2016-12-06

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD.

Inventor： FRIMER, Motti ,  NIR, Tal ,  ATAROT, Gal ,  ALPERT, Lior

IPC: G09B23/28 ,  G09B23/00

Abstract: The present invention provides a system for assessing a skill level for execution of at least one surgical procedure, comprising: a. at least one imaging device configured to provide at least one image in a field of view of a surgical environment; b. processor in communication with said imaging device; a. communicable database configured to (i) store said at least one surgical procedure; said at least one surgical procedure is characterized by at least one stored parameter of at least one item, P stored ; (ii) real-time store said at least one parameter P item , of said at least one item; wherein from comparison between said at least one parameter of said at least one item, Pitem and at least one of said P stored , said skill level is providable.

Abstract translation: 本发明提供了一种用于评估执行至少一个外科手术的技能水平的系统，包括：a。 至少一个成像装置，其被配置为在手术环境的视场中提供至少一个图像; 湾 与所述成像装置通信的处理器; 一个。 可通信数据库，被配置为（i）存储所述至少一个手术程序; 所述至少一个外科手术的特征在于至少一个项目的至少一个存储参数P存储; （ii）实时存储所述至少一个项目的所述至少一个参数P _{item; 其中通过比较所述至少一个项目的所述至少一个参数，Pitem和至少一个所述P 存储的，所述技能水平是可提供的。}

公开(公告)号：WO2013027200A2

公开(公告)日：2013-02-28

申请号：PCT/IL2012/000309

申请日：2012-08-21

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD. ,  SHOLEV, Mordehai ,  PFEFFER, Udi ,  FRIMER, Motti

Inventor： SHOLEV, Mordehai ,  PFEFFER, Udi ,  FRIMER, Motti

IPC: A61B1/018

CPC classification number: A61B1/00011 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/0002 ,  A61B1/00039 ,  A61B1/00045 ,  A61B1/00149 ,  A61B1/0016 ,  A61B1/04 ,  A61B1/0661 ,  A61B1/3132 ,  A61B5/062 ,  A61B5/064 ,  A61B6/032 ,  A61B8/0841 ,  A61B8/12 ,  A61B17/00234 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B90/10 ,  A61B90/39 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/0811

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.

Abstract translation: 本发明提供了一种用于辅助操作者进行人体腹腔镜手术的手术跟踪系统，所述手术跟踪系统包括：a。 至少一个内窥镜，适于获取所述人体内的手术环境的实时图像; 湾 适于在所述腹腔镜手术期间控制所述内窥镜的空间位置的操纵子系统; 和，c。 跟踪子系统，与所述操纵子系统通信，适于控制操纵系统，以便引导和修改所述内窥镜的空间位置到感兴趣的区域。

公开(公告)号：WO2017037705A1

公开(公告)日：2017-03-09

申请号：PCT/IL2016/050947

申请日：2016-08-30

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD

Inventor： NIR, Tal ,  ATAROT, Gal ,  FRIMER, Motti

IPC: A61B1/00 ,  A61B17/00 ,  A61B5/06

CPC classification number: A61B34/20 ,  A61B1/3132 ,  A61B5/0476 ,  A61B5/0488 ,  A61B5/055 ,  A61B5/061 ,  A61B5/4244 ,  A61B5/6824 ,  A61B5/7275 ,  A61B2017/00207 ,  A61B2017/2906 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2503/20 ,  A61B2505/05 ,  A61B2562/0219

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 translation: 一种智能手术工具控制系统，包括工具管理系统; 用于指示至少一个手术事件的指示装置; 用于为每个感兴趣的项目存储其身份，其当前3D位置和至少一个之前的3D位置的可传送数据库; 以及至少一个处理器，用于从手术事件中识别输出外科手术。 所述工具管理系统可以包括操纵机构以在至少两个维度上操纵手术工具; 以及控制器，用于控制手术工具的激活和停用以及外科手术工具的关节活动中的至少一个。 指示装置可以指示从移动元件的移动和感兴趣物品的存在中选择的外科事件，其中如果移动元件的当前3D位置与其前一3D位置基本上不同，则移动是可确定的。

公开(公告)号：WO2016005988A1

公开(公告)日：2016-01-14

申请号：PCT/IL2015/050718

申请日：2015-07-09

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD.

Inventor： ATAROT, Gal ,  FRIMER, Motti ,  NIR, Tal ,  HAREL, Tami

IPC: A61B1/00 ,  A61B19/00 ,  A61B5/00

CPC classification number: 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

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 translation: 本发明公开了一种手术操纵系统，其中使用移动元件的运动来控制诸如外科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。 移动元件与手术装置之间的关系可以是以下任何一种：控制手术装置运动的移动元件的运动，控制手术装置的动作的运动元件的运动，控制运动的动作的命令 手术装置或控制装置动作的移动元件的命令。 命令通常是任意移动，例如摇动工具。 动作是手术装置中不改变其整体位置的变化，例如关闭抓紧器。

公开(公告)号：WO2015151098A2

公开(公告)日：2015-10-08

申请号：PCT/IL2015/050349

申请日：2015-03-31

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD.

Inventor： NIR, Tal ,  FRIMER, Motti ,  ATAROT, Gal

IPC: A61B19/00 ,  A61B17/00

CPC classification number: A61B1/00009 ,  A61B1/00 ,  A61B1/00006 ,  A61B1/00045 ,  A61B1/008 ,  A61B1/042 ,  A61B1/0676 ,  A61B1/313 ,  A61B1/3132 ,  A61B18/22 ,  A61B34/20 ,  A61B2034/2048 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2034/742 ,  A61B2090/367 ,  A61B2090/373 ,  G06T7/337 ,  G06T15/205 ,  G06T2207/10021 ,  G06T2207/10081 ,  G06T2207/10104 ,  G06T2207/10136

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 translation: 本发明提供一种基于结构光的系统，用于在体腔内提供视野内的至少一个物体的3D图像，包括：a。 内窥镜 湾 位于所述内窥镜的近端中的至少一个照相机，被配置为通过所述至少一个透镜实时提供所述视场的至少一部分的至少一个2D图像; C。 光源，被配置为在所述视野的至少一部分内实时照亮所述至少一个物体的至少一部分，具有至少一个时间和空间改变预定光图案; 和，d。 传感器，被配置为检测从所述视场反射的光; 即 当由数据处理装置执行时，被配置为生成所述视场的3D图像的计算机程序。

公开(公告)号：WO2017175232A1

公开(公告)日：2017-10-12

申请号：PCT/IL2017/050433

申请日：2017-04-09

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD.

Inventor： ATAROT, Gal ,  FRIMER, Motti ,  NIR, Tal ,  ALPERT, Lior

IPC: G10L15/00 ,  G10L15/05 ,  A61B1/04 ,  A61B5/06 ,  A61B6/03

Abstract: The present invention provides a vocally activated control system for controlling at least one apparatus in a surgical setting. The control system comprises a voice sensor to detect vocal commands generated by at least one surgeon in a surgical setting; a signal transmitter operatively connected to the voice sensor to convert vocal commands into transmittable vocal signals and to transmit the transmittable vocal signals; and a processor operatively connected to the signal transmitter to receive the transmittable vocal signals. The processor converts transmittable vocal signals to members of a predetermined set of operative instructions, where each operative instruction is associated with apparatus in the surgical environment. Each apparatus comprises control means, the control means operatively connected to the processor and the apparatus. The control means receives the operative instructions and causes the apparatus to operate accordingly.

Abstract translation: 本发明提供了一种用于在手术环境中控制至少一个设备的语音激活的控制系统。 该控制系统包括语音传感器，以检测手术设置中由至少一个外科医生产生的语音命令; 可操作地连接到话音传感器以将话音命令转换成可发送的话音信号并发送可发送的话音信号的信号发送器; 以及可操作地连接到信号发射器以接收可发送的声音信号的处理器。 处理器将可发送的声音信号转换成预定的一组操作指令的成员，其中每个操作指令与手术环境中的装置相关联。 每个装置包括控制装置，控制装置可操作地连接到处理器和装置。 控制装置接收操作指令并使装置相应地操作。

公开(公告)号：WO2017098504A1

公开(公告)日：2017-06-15

申请号：PCT/IL2016/051305

申请日：2016-12-06

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD.

Inventor： FRIMER, Motti ,  NIR, Tal ,  ATAROT, Gal ,  ALPERT, Lior

IPC: G06F19/00 ,  A61B17/00 ,  A61B1/00

CPC classification number: A61B1/00057 ,  A61B1/00009 ,  A61B17/00 ,  G06F19/00 ,  G06F19/3481 ,  G16H40/63

Abstract: The present invention provides a system for assessing quality of functioning of at least one surgical object, comprising: a. at least one imaging device configured to provide at least one image of at least part of a field of view of said surgical environment; b. processor in communication with said imaging device; and, c. communicable database configured to (i) store at least one second parameter associated with said at least one item; (ii) store at least one said first parameter of at least one said item; wherein from comparison between said at least one first parameter and said at least one second parameter, said quality of functioning is ascertainable for at least one surgical object.

Abstract translation: 本发明提供了一种用于评估至少一个手术物体的功能质量的系统，包括：a。 至少一个成像装置，其被配置为提供所述手术环境的至少一部分视场的至少一个图像; 湾 与所述成像装置通信的处理器; 和，c。 所述可通信数据库被配置为（i）存储与所述至少一个项目相关联的至少一个第二参数; （ii）存储至少一个所述物品的至少一个所述第一参数; 其中从所述至少一个第一参数和所述至少一个第二参数之间的比较中可以确定所述至少一个手术物体的所述功能的质量。

公开(公告)号：WO2015189839A1

公开(公告)日：2015-12-17

申请号：PCT/IL2015/050579

申请日：2015-06-08

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD.

Inventor： ATAROT, Gal ,  NIR, Tal ,  FRIMER, Motti ,  HAREL, Tami

IPC: G05B19/00

CPC classification number: A61B34/20 ,  A61B1/00045 ,  A61B1/3132 ,  A61B17/00234 ,  A61B34/00 ,  A61B34/25 ,  A61B90/03 ,  A61B90/361 ,  A61B2017/00057 ,  A61B2017/00119 ,  A61B2017/00199 ,  A61B2017/00207 ,  A61B2017/00216 ,  A61B2017/00221 ,  A61B2017/00225 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2090/0805 ,  A61B2090/373 ,  A61B2562/0257 ,  G05B19/00 ,  G06F19/00 ,  G06F19/3481 ,  G16H40/63

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 translation: 一种手术控制系统，包括：至少一个手术工具，其构造成插入到人体的手术环境中; 至少一个位置估计装置，被配置用于在任何给定时间t对所述至少一个外科手术工具的3D空间位置进行实时定位; 至少一个运动检测装置，可与运动的数据库和所述位置估计装置通信; 具有可与控制器数据库通信的处理装置的控制器; 所述控制器的数据库与所述移动检测装置通信; 以及构造成实时提供所述手术环境的至少一部分的图像的至少一个显示器; 其中所述控制器经配置以经由所述控制器提供的所述指令将所述手术工具引导到所述位置; 进一步地，当所述至少一个外科手术工具移动时，所述位置在所述显示器上实时更新。

公开(公告)号：WO2017098507A1

公开(公告)日：2017-06-15

申请号：PCT/IL2016/051308

申请日：2016-12-06

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD.

Inventor： FRIMER, Motti ,  NIR, Tal ,  ATAROT, Gal

IPC: A61B5/00 ,  G06T7/00

CPC classification number: A61B5/061 ,  A61B5/0075 ,  A61B5/0095 ,  A61B5/02042 ,  A61B5/02055 ,  A61B5/021 ,  A61B5/024 ,  A61B5/0402 ,  A61B5/0476 ,  A61B5/055 ,  A61B5/0816 ,  A61B5/489 ,  A61B5/4893 ,  A61B5/7405 ,  A61B5/7455 ,  A61B34/30 ,  A61B2505/05 ,  G06F19/00 ,  G06F19/34 ,  G06T7/00 ,  G06T7/248 ,  G06T2207/30004 ,  G06T2207/30241

Abstract: The present invention provides a system for identifying at least one surgical procedure, comprising: a. at least one robotic manipulator connectable to said at least one surgical tool; b. at least one imaging device configured to real time provide at least one image in a field of view of a surgical environment; c. processor in communication with said robotic manipulator and said imaging device; and, d. communicable database configured to (i) store said surgical procedure; said at least one surgical procedure is characterized by at least one spatial position of at least one item SP stored; (ii) real-time store at least one of said spatial position, SP item, of at least one said item; wherein said at least one processor is configured to identify at least one said surgical procedure being performed by identifying at least partial match between said SP item and said SP stored

Abstract translation: 本发明提供了一种用于识别至少一个外科手术的系统，包括：a。 至少一个机器人操纵器，其可连接到所述至少一个手术工具; 湾 至少一个成像装置，其被配置为实时提供手术环境的视场中的至少一个图像; C。 与所述机器人操纵器和所述成像装置通信的处理器; 和，d。 （i）存储所述外科手术程序; 所述至少一个手术过程的特征在于存储了至少一个物品SP的至少一个空间位置; （ii）实时存储至少一个所述物品的所述空间位置SP项中的至少一个; 其中所述至少一个处理器被配置为通过识别所述SP项目与存储的所述SP之间的至少部分匹配来识别正在执行的至少一个所述外科手术，

公开(公告)号：WO2017098506A1

公开(公告)日：2017-06-15

申请号：PCT/IL2016/051307

申请日：2016-12-06

Applicant: M.S.T. MEDICAL SURGERY TECHNOLOGIES LTD.

Inventor： FRIMER, Motti ,  NIR, Tal ,  ATAROT, Gal ,  ALPERT, Lior

IPC: G09B23/28 ,  G09B23/00

CPC classification number: G09B23/285 ,  G06F19/00

Abstract: The present invention provides a system for assessing a skill level for execution of at least one surgical procedure, comprising: a. at least one imaging device configured to provide at least one image in a field of view of a surgical environment; b. processor in communication with said imaging device; a. communicable database configured to (i) store said at least one surgical procedure; said at least one surgical procedure is characterized by at least one stored parameter of at least one item, P stored ; (ii) real-time store said at least one parameter P item , of said at least one item; wherein from comparison between said at least one parameter of said at least one item, Pitem and at least one of said P stored , said skill level is providable.