09204939 is referenced by 3 patents and cites 43 patents.

Surgical controlling systems and methods. A surgical controlling system includes: 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 unit to real-time locate the 3D spatial position of at least one surgical tool at any given time t; and at least one movement detection unit in communication with a movement's database and with the location estimating means. The system also includes a controller having a processing unit in communication with a controller's database. The controller controls the spatial position of at least one surgical tool.

Title
Device and method for assisting laparoscopic surgery—rule based approach
Application Number
14/150939
Publication Number
9204939 (B2)
Application Date
January 9, 2014
Publication Date
December 8, 2015
Inventor
Yehuda Pfeffer
Moshav Adirim
IL
Mordehai Sholev
Amikam
IL
Motti Frimer
Zichron Yaakov
IL
Assignee
M S T MEDICAL SURGERY TECHNOLOGIES
IL
IPC
A61B 1/313
A61B 1/00
A61B 19/00
G06F 19/00
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