Device and method for assisting laparoscopic surgery utilizing a touch screen

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.

1 - 166 . (canceled) 
     
     
         167 . A surgical controlling system, comprising:
 a. at least one surgical tool configured to be inserted into a surgical environment of a human body for assisting a surgical procedure;   b. 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;   c. at least one movement detection means communicable with a movement's database and with said location estimating means; said movement's database is configured to store said 3D spatial position of said at least one surgical tool at time t ƒ  and at time t 0 ;   where t ƒ >t 0 ; said movement detection means is configured to detect movement of said at least one surgical tool if the 3D spatial position of said at least one surgical tool at time t ƒ  is different than said 3D spatial position of said at least one surgical tool at time t 0 ; and,   d. a controller having a processing means communicable with a controller's database, said controller configured to control the spatial position of said at least one surgical tool;   said controller's database is in communication with said movement detection means;   said controller configured to provide instructions for moving said at least one surgical tool; and   e. input receiving means configured to receive input and to convert said input to at least one location within said surgical environment of said human body; and   f. 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.   
     
     
         168 . The surgical controlling system of  claim 167 , wherein said input receiving means is selected from a group consisting of: (a) a touchscreen in wired or wireless communication with said controller, configured to display an image of at least a portion of said surgical environment of said human body and to receive input of said at least one location within said surgical environment of said human body; (b) at least one first camera, in wired or wireless communication with said controller, configured to detect movement of a user's eye; and, (c) at least one second camera, in wired or wireless communication with said controller, configured to detect movement of at least one body portion of the user; said body portion is selected from a group consisting of hand, elbow, leg. foot, finger and any combination thereof; (d) at least one voice receiving means, in wired or wireless communication with said controller, configured to detect sound; and any combination thereof. 
     
     
         169 . The surgical controlling system of  claim 168 , wherein said portion of said touchscreen is that which displays the image of said location. 
     
     
         170 . The surgical controlling system of  claim 168 , wherein said portion of said touchscreen displays a direction indicator, said direction indicator selected from a group consisting of: an arrow pointing in a predefined direction, a line pointing in a predefined direction, a pointer pointing in a predefined direction, the word “left”, the word “right” the word “up”, the word “down”, the word “forward”, the word “back”, the word “zoom”, the word “in”, the word “out”, and any combination thereof. 
     
     
         171 . The surgical controlling system of  claim 168 , wherein said location within said surgical environment of said human body is determinable from at least one of a group consisting of pressure on a portion of said touchscreen, proportional movement of said body portion of the user, and movement of said eye; sound command received by said sound receiver; and any combination thereof. 
     
     
         172 . The surgical controlling system of  claim 171 , wherein said movement of said body portion of the user is selected from a group consisting of: direction of movement of said body portion of the user, speed of movement of said body portion of the user and any combination thereof. 
     
     
         173 . The surgical controlling system of  claim 172 , wherein said direction of movement of said body portion of the user is selected from a group consisting of: left, right, up, down, forward, back, and any combination thereof. 
     
     
         174 . The surgical controlling system of  claim 169 , wherein said movement of said eye is selected from a group consisting of: direction of movement of said eye, speed of movement of said eye, closing of said eye, and any combination thereof. 
     
     
         175 . The surgical controlling system of  claim 174 , wherein said direction of movement of said eye is selected from a group consisting of: left, right, up, down, and any combination thereof. 
     
     
         176 . The surgical controlling system of  claim 167 , wherein at least one of the following is being held true (a) said system additionally comprises an endoscope; said endoscope is configured to provide real-time image of said surgical environment; (b) at least one of said surgical tools is an endoscope configured to provide at least one real-time image of said surgical environment. 
     
     
         177 . The surgical controlling system of  claim 167 , wherein said tool comprises at least one proximity sensor positioned on the outer circumference of the same. 
     
     
         178 . The surgical controlling system of  claim 167 , wherein said instructions comprise a predetermined set of rules selected from a group consisting of: most used tool rule, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, environmental rule, operator input rule, proximity rule; collision prevention rule, history-based rule, tool-dependent allowed and restricted movements rule, preferred volume zone rule, preferred tool rule, movement detection rule, tagged tool rule, change of speed rule and any combination thereof. 
     
     
         179 . The surgical controlling system of  claim 178 , wherein at least one of the following is being held true:
 a. 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 said location of said at least one surgical tool is substantially different from said n 3D spatial positions of said predefined route;   b. said environmental rule comprises a comprises a communicable database; said communicable database configured to receive at least one real-time image of said surgical environment and is configured to perform real-time image processing of the same and to determine the 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;   c. 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 restricted movements of said at least one surgical tool;   d. 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 are movements which are out of the range or within the range of said predetermined distance;   e. 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;   f. 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; said anatomical element is selected from a group consisting of tissue, organ, another surgical tool and any combination thereof;   g. said right tool rule is configured to determine said allowed movement of said endoscope according to the movement of the surgical tool positioned to right of said endoscope; further wherein said left tool rule is configured to determine said allowed movement of said endoscope according to the movement of the surgical tool positioned to left of said endoscope;   h. said tagged tool rule comprises means configured to tag at least one surgical tool within said surgical environment and to determine said allowed movement of said endoscope so as to constantly track the movement of said tagged surgical tool;   i. said field of view rule comprises a communicable database comprising n 3D spatial positions; n is an integer greater than or equal to 2; the combination of all of said n 3D spatial positions provides a predetermined field of view; said field of view rule is configured to determine said allowed movement of said endoscope within said n 3D spatial positions so as to maintain a constant field of view, such that said allowed movements are movements in which said endoscope 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 endoscope is substantially different from said n 3D spatial positions;   j. said preferred volume zone rule comprises a communicable database comprising n 3D spatial positions; n is an integer greater than or equal to 2; said n 3D spatial positions provides said preferred volume zone; said preferred volume zone rule is configured to determine said allowed movement of said endoscope within said n 3D spatial positions and restricted movement of said endoscope outside said n 3D spatial positions, such that said allowed movements are movements in which said endoscope 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 endoscope is substantially different from said n 3D spatial positions;   k. said preferred tool rule comprises a communicable database, said database stores a preferred tool; said preferred tool rule is configured to determine said allowed movement of said endoscope to constantly track the movement of said preferred tool;   l. said no fly zone rule comprises a communicable database comprising 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 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 endoscope is substantially different from said n 3D spatial positions;   m. said most used tool rule comprises a communicable database counting the amount of movement of each said surgical tool; said most used tool rule is configured to constantly position said endoscope to track the movement of the most moved surgical tool;   n. wherein said system further comprises a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules; further wherein said system is configured to alert the physician of said restricted movement of said at least one surgical tool; said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof;   o. said history-based rule comprises a communicable database storing each 3D spatial position of each 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;   p. 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; such that allowed movements are movements of said endoscope which track said surgical tool having said predetermined characteristics;   q. said movement detection rule comprises a communicable database comprising the real-time 3D spatial positions of each said surgical tool; said movement detection rule is configured 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 re-directed to focus on said moving surgical tool; and any combination thereof.   
     
     
         180 . The surgical controlling system of  claim 178 , further comprising a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules, such that if said movement of said at least one surgical tool is a restricted movement, said maneuvering subsystem prevents said movement. 
     
     
         181 . The surgical controlling system of  claim 167 , wherein said at least one location estimating means comprises at least one endoscope configured to acquire real-time images of said surgical environment within said human body; and at least one surgical instrument spatial location software configured to receive said real-time images of said surgical environment and to estimate said 3D spatial position of said at least one surgical tool. 
     
     
         182 . The surgical tracking system of  claim 167 , wherein said at least one location estimating means comprises (a) at least one element selected from a group consisting of optical imaging means, radio frequency transmitting and receiving means, at least one mark on said at least one surgical tool and any combination thereof; and, (b) at least one surgical instrument spatial location software configured to estimate said 3D spatial position of said at least one surgical tool by means of said element. 
     
     
         183 . A method of using a surgical controlling system, comprising steps of:
 a. providing a surgical controlling system comprising:
 i. at least one surgical tool configured to be inserted into a surgical environment of a human body for assisting a surgical procedure; 
 ii. 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; 
 iii. at least one movement detection means communicable with a movement's database and with said location estimating means; said movement's database is configured to store said 3D spatial position of said at least one surgical tool at time t ƒ  and at time t 0 ; where t ƒ >t 0 ; said movement detection means is configured to detect movement of said at least one surgical tool if the 3D spatial position of said at least one surgical tool at time t ƒ  is different than said 3D spatial position of said at least one surgical tool at time t 0 ; and, 
 iv. a controller having a processing means communicable with a controller's database, said controller configured to control the spatial position of said at least one surgical tool; said controller's database is in communication with said movement detection means; 
 v. input receiving means configured to receive input and to convert said input to at least one location within said surgical environment of said human body; and 
 vi. at least one display configured to real time provide an image of at least a portion of said surgical environment; 
   b. inserting at least one said surgical tool into said surgical environment;   c. displaying said at least a portion of said surgical environment;   d. receiving input and convert said input to at least one location within said surgical environment of said human body;   e. estimating the 3D spatial position of at least one said surgical tool; and   f. directing and moving said surgical tool to said location via instructions provided by said controller   wherein said location is real time updated on said display as said at least one surgical tool is moved.   
     
     
         184 . The method of  claim 183 , additionally comprising steps of selecting said input receiving means from a group consisting of: (a) at least one touchscreen in wired or wireless communication with said controller, configured to display an image of at least a portion of said surgical environment of said human body and to receive input of said at least one location within said surgical environment of said human body; (b) at least one first camera, in wired or wireless communication with said controller, configured to detect movement of a user's eye; and (c) at least one second camera, in wired or wireless communication with said controller, configured to detect movement of at least one body portion of the user; said body portion is selected from a group consisting of hand, elbow, leg. foot, finger and any combination thereof; (d) at least one voice receiving means, in wired or wireless communication with said controller, configured to detect sound; and any combination thereof. 
     
     
         185 . The method of  claim 184 , additionally comprising steps of receiving said input in a manner selected from a group consisting of: (a) providing said at least one touchscreen, displaying said image of at least a portion of said surgical environment via said touchscreen; and determining said location within said surgical environment of said human body from pressure on a portion of said touchscreen; (b) providing said at least one first camera, detecting said movement of said eye; and determining said location within said surgical environment of said human body from proportional movement of said eye; and (c) providing said at least one second camera, detecting said movement of said body portion of the user; and determining said location within said surgical environment of said human body from proportional movement of said body portion; (d) providing at least one voice receiving means, in wired or wireless communication with said controller; and determining said location within said surgical environment of said human body from said sound; and any combination thereof. 
     
     
         186 . A surgical controlling system, comprising:
 a. at least one surgical tool configured to be inserted into a surgical environment of a human body for assisting a surgical procedure;   b. 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;   c. at least one movement detection means communicable with a movement's database and with said location estimating means; said movement's database is configured to store said 3D spatial position of said at least one surgical tool at time t ƒ  and at time t 0 ; where t ƒ >t 0 ; said movement detection means is configured to detect movement of said at least one surgical tool if the 3D spatial position of said at least one surgical tool at time t ƒ  is different than said 3D spatial position of said at least one surgical tool at time t 0 ; and,   d. a controller having a processing means communicable with a controller's database, said controller configured to control the spatial position of said at least one surgical tool;   said controller's database is in communication with said movement detection means;   said controller configured to provide instructions for moving said at least one surgical tool; and   e. input receiving means configured to receive input and to convert said input to at least one location within said surgical environment of said human body; and   f. 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   further wherein said input receiving means is a touchscreen in wired or wireless communication with said controller, configured to display an image of at least a portion of said surgical environment of said human body and to receive input of at least one location within said surgical environment of said human body.   
     
     
         187 . The surgical controlling system of  claim 186 , wherein said location within said surgical environment of said human body is determinable from pressure on a portion of said touchscreen. 
     
     
         188 . The surgical controlling system of  claim 187 , wherein said portion of said touchscreen is that which displays the image of said location. 
     
     
         189 . The surgical controlling system of  claim 187 , wherein said portion of said touchscreen displays a direction indicator, said direction indicator selected from a group consisting of: an arrow pointing in a predefined direction, a line pointing in a predefined direction, a pointer pointing in a predefined direction, the word “left”, the word “right” the word “up”, the word “down”, the word “forward”, the word “back”, the word “zoom”, the word “in”, the word “out”, and any combination thereof. 
     
     
         190 . The surgical controlling system of  claim 186 , wherein said input receiving means is additionally selected from a group consisting of: (a) at least one first camera, in wired or wireless communication with said controller, configured to detect movement of an eye; and, (b) at least one second camera, in wired or wireless communication with said controller, configured to detect movement of a body portion of the user; and any combination thereof. 
     
     
         191 . The surgical controlling system of  claim 190 , wherein said location within said surgical environment of said human body is additionally determinable from at least one of a group consisting movement of said body portion of the user, and movement of said eye. 
     
     
         192 . The surgical controlling system of  claim 191 , wherein said movement of said body portion of the user is selected from a group consisting of: direction of movement of said body portion of the user, speed of movement of said body portion of the user and any combination thereof. 
     
     
         193 . The surgical controlling system of  claim 192 , wherein said direction of movement of said body portion of the user is selected from a group consisting of: left, right, up, down, forward, back, and any combination thereof. 
     
     
         194 . The surgical controlling system of  claim 193 , wherein said movement of said eye is selected from a group consisting of: direction of movement of said eye, speed of movement of said eye, closing of said eye, and any combination thereof. 
     
     
         195 . The surgical controlling system of  claim 194 , wherein said direction of movement of said eye is selected from a group consisting of: left, right, up, down, and any combination thereof. 
     
     
         196 . The surgical controlling system of  claim 186 , wherein at least one of the following is being held true (a) said system additionally comprises an endoscope; said endoscope is configured to provide real-time image of said surgical environment; (b) at least one of said surgical tools is an endoscope configured to provide at least one real-time image of said surgical environment. 
     
     
         197 . The surgical controlling system of  claim 186 , wherein said tool comprises at least one proximity sensor positioned on the outer circumference of the same. 
     
     
         198 . The surgical controlling system of  claim 186 , wherein said instructions comprise a predetermined set of rules selected from a group consisting of: most used tool rule, right tool rule, left tool rule, field of view rule, no fly zone rule, a route rule, environmental rule, operator input rule, proximity rule; collision prevention rule, history-based rule, tool-dependent allowed and restricted movements rule, preferred volume zone rule, preferred tool rule, movement detection rule, tagged tool rule, change of speed rule and any combination thereof. 
     
     
         199 . The surgical controlling system of  claim 198 , wherein at least one of the following is being held true:
 a. 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 said location of said at least one surgical tool is substantially different from said n 3D spatial positions of said predefined route;   b. said environmental rule comprises a comprises a communicable database; said communicable database configured to receive at least one real-time image of said surgical environment and is configured to perform real-time image processing of the same and to determine the 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;   c. 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 restricted movements of said at least one surgical tool;   d. 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 are movements which are out of the range or within the range of said predetermined distance;   e. 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;   f. 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; said anatomical element is selected from a group consisting of tissue, organ, another surgical tool and any combination thereof;   g. said right tool rule is configured to determine said allowed movement of said endoscope according to the movement of the surgical tool positioned to right of said endoscope; further wherein said left tool rule is configured to determine said allowed movement of said endoscope according to the movement of the surgical tool positioned to left of said endoscope;   h. said tagged tool rule comprises means configured to tag at least one surgical tool within said surgical environment and to determine said allowed movement of said endoscope so as to constantly track the movement of said tagged surgical tool;   i. said field of view rule comprises a communicable database comprising n 3D spatial positions; n is an integer greater than or equal to 2; the combination of all of said n 3D spatial positions provides a predetermined field of view; said field of view rule is configured to determine said allowed movement of said endoscope within said n 3D spatial positions so as to maintain a constant field of view, such that said allowed movements are movements in which said endoscope 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 endoscope is substantially different from said n 3D spatial positions;   j. said preferred volume zone rule comprises a communicable database comprising n 3D spatial positions; n is an integer greater than or equal to 2; said n 3D spatial positions provides said preferred volume zone; said preferred volume zone rule is configured to determine said allowed movement of said endoscope within said n 3D spatial positions and restricted movement of said endoscope outside said n 3D spatial positions, such that said allowed movements are movements in which said endoscope 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 endoscope is substantially different from said n 3D spatial positions;   k. said preferred tool rule comprises a communicable database, said database stores a preferred tool; said preferred tool rule is configured to determine said allowed movement of said endoscope to constantly track the movement of said preferred tool;   l. said no fly zone rule comprises a communicable database comprising 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 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 endoscope is substantially different from said n 3D spatial positions;   m. said most used tool rule comprises a communicable database counting the amount of movement of each said surgical tool; said most used tool rule is configured to constantly position said endoscope to track the movement of the most moved surgical tool;   n. wherein said system further comprises a maneuvering subsystem communicable with said controller, said maneuvering subsystem is configured to spatially reposition said at least one surgical tool during a surgery according to said predetermined set of rules; further wherein said system is configured to alert the physician of said restricted movement of said at least one surgical tool; said alert is selected from a group consisting of audio signaling, voice signaling, light signaling, flashing signaling and any combination thereof;   o. said history-based rule comprises a communicable database storing each 3D spatial position of each 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;   p. 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; such that allowed movements are movements of said endoscope which track said surgical tool having said predetermined characteristics;   q. said movement detection rule comprises a communicable database comprising the real-time 3D spatial positions of each said surgical tool; said movement detection rule is configured 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 re-directed to focus on said moving surgical tool; and any combination thereof.