09504456 is referenced by 3 patents and cites 40 patents.

A surgical controlling system comprising: at least one location estimating means to real-time locate the 3D spatial position of at least one surgical tool; at least one movement detection means in communication with a movement database and with the location estimating means; and a controller, which controls the position of at least one surgical tool, in communication with a movement database, a control database and the movement detection means. The movement database stores the 3D spatial position of each surgical tool at the present time and at at least one previous time; a tool has moved if its present position is different from its previous position. The control database stores rules to identify a movement of a tool as either an ALLOWED movement or a RESTRICTED movement.

Title
Device and method for assisting laparoscopic surgery rule based approach
Application Number
14/752947
Publication Number
9504456 (B2)
Application Date
June 28, 2015
Publication Date
November 29, 2016
Inventor
Yehuda Pfeffer
Moshav Adirim
IL
Mordehai Sholev
Amikam
IL
Motti Frimer
Zichron Yaakov
IL
Assignee
M S T MEDICAL TECHNOLOGIES
IL
IPC
A61B 19/00
A61B 1/06
A61B 1/04
G05B 15/02
A61B 1/313
A61B 1/00
A61B 17/00
G06F 19/00
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