Device and method for assisting laparoscopic surgery - rule based approach

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 the 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.

A surgical controlling system, comprising:

• a. at least one surgical tool adapted to be inserted into a surgical environment of a human body for assisting a surgical procedure;
• b. at least one endoscope adapted to provide real-time image of said surgical environment;
• c. at least one location estimating means adapted to real-time locate the 3D spatial position of said at least one surgical tool at any given time t;
• d. at least one movement detection means communicable with a movement's database and with said location estimating means;
• said movement's database is adapted to store said 3D spatial position of said at least one surgical tool at time tf and at time t0, where tf>t0;
• said movement detection means is adapted to detect movement of said at least one surgical tool if the 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;
• and,
• e. a controller having a processing means communicable with a controller's database, said controller adapted to control the spatial position of said at least one surgical tool;
• said controller's database is in communication with said movement detection means;
• wherein said controller's 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 controller is adapted to relocate the 3D spatial positions of said endoscope if movement has been detected by said detection means, such that said field of view is maintained.