CN109863553A

CN109863553A - The operation control system of voice activation

Info

Publication number: CN109863553A
Application number: CN201780034382.1A
Authority: CN
Inventors: 贾勒·阿塔罗特; 莫蒂·弗里梅; 塔尔·尼尔; 利奥尔·阿尔珀特
Original assignee: MST Medical Surgery Technologies Ltd
Current assignee: Transatlex Europe Ltd.
Priority date: 2016-04-07
Filing date: 2017-04-09
Publication date: 2019-06-07
Also published as: EP3440669A1; EP3440669A4; WO2017175232A1

Abstract

The present invention provides a kind of for controlling the voice activation control system of at least one instrument in operation setting.The control system includes: speech transducer, and the speech transducer is to detect the voice command generated by least one surgeon being located in operation setting；Sender unit, the sender unit are operably connected to speech transducer, and voice command is converted into transmissible voice signal and sends the transmissible voice signal；And processor, the processor are operably connected to sender unit to receive the transmissible voice signal.Transmissible voice signal is converted into the member of the operational order group of pre-determining by processor, wherein each operational order is associated with the instrument in surgical environments.Each instrument includes control device, and control device is operably connected to processor and instrument.Control device receives operational order and runs instrument correspondingly.

Description

The operation control system of voice activation

Technical field

The present invention relates generally to control system fields.More particularly, it relates to which a kind of set in operation The voice activated system of the multiple instruments of control in (setting, environment, background, scene).

Background technique

In many operation sequences, need more than one assistant to adjust various instruments, such as illumination, station, Microscope and endoscope allow surgeon/operator to continue his or her work and change required device without stopping The setting of tool.Two or more operators are needed so that two independent systems is carried out work as a seamless unit be outer Significant challenge in section's operation.In addition, additional personnel increase the cost of program and to operating room resource such as occupied areas Burden is brought with ventilation of room and cooling jig.

Latest developments in language identification cause the development of various voice activations or auxiliary control applications.These applications Example include help generate and manipulate medical image, adjustment station position and manipulation of surgical equipment it is such as micro- Mirror.

US 6,591,239 discloses a kind of voice control operation external member for by single control multiple equipment, this is more A equipment includes operating table, operation lamp cap, surgical camera and task lamp apparatus.

US 6,747,566 discloses a kind of remote control unit of voice activation, is configured as and one or more electricity Gas instrument such as TV machine, DVD player, stereophonic sound system, air-conditioning are used together, it is therefore an objective to allow user by voice activation come Remotely ON/OFF and control the operations of these electric apparatus.

US 7,286,992 discloses a kind of speech control system for surgical operation microscope, with voice operating unit With at least one other operating unit such as manual operating unit, foot control operating unit and/or eye control operating unit.Control device One group of microscope functions is executed via voice operating unit, and executes another group of microscope function via non-voice operating unit Energy.

US 6,785,358 discloses a kind of diagnosing image control user interface of voice activation.The invention provides one kind Voice activation control system for medical image system.Control subsystem includes: audio microphone, which is matched It is set to and is positioned for receiving the audio input from operator；Audio-frequency amplifier, the audio-frequency amplifier is for receiving by microphone The audio signal of generation；And audio signal processor, the audio signal processor are coupled to amplifier, put for handling to come from The audio signal of the amplification of big device.The processing includes Text region.

However, voice is to pick up (pick up, acquire) via speech transducer, the language disclosed in these in system Sound sensor is not to be directly attached to surgeon/operator or be not in constant position about surgeon, this may Potentially cause low signal and significant ambient noise, leads to more mistakes in language identification process.Therefore, there is still a need for opening Send out a kind of for controlling the sensitive and accurate voice activation control system and its method of multiple instruments in operating room.

Summary of the invention

The object of the present invention is to provide a kind of sensitive and accurately sharp for controlling the sound of multiple instruments in operating room Control system living.

The sound that it is a further object to provide a kind of for controlling at least one instrument in operation setting swashs Control system living, the voice activation control system includes:

A. speech transducer, the speech transducer are configured to detect outer by being located at least one of operation setting At least one voice command that section doctor generates；

B. sender unit, the sender unit are operably connected to the speech transducer, and the transmitter is matched It is set to and at least one described voice command is converted at least one transmissible voice signal, and at least one can described in transmission The voice signal of transmission；

C. processor, the processor are operably connected to the sender unit, and processor is configured to receive described At least one transmissible voice signal, the processor are configured at least one described transmissible voice signal conversion For the operational order group of at least one pre-determining associated at least one described instrument, the behaviour of at least one pre-determining It include at least one instruction as instruction group；And

D. at least one control device, at least one control device be operably connected to the processor and it is described extremely A few instrument；At least one described control device be configured to receive the operational order group of the pre-determining and make it is described extremely A few instrument is correspondingly run；

Wherein, the speech transducer and the transmitter are integrated in wearable elements.

It is a further object to provide voice activation control systems as described above, wherein the wearable member The site of part is selected from by following groups constituted: being integrated in the wearable member of operation that can be dressed by least one described surgeon In part, it is integrated in the system, could attach at least part of the system and their any combination.

It is a further object to provide voice activation control systems as described above, wherein the surgical operation Wearable elements are selected from by following groups constituted: mask, headgear, head-wearing piece, cap, shoe cover, gloves, hospital's robe, operation system Clothes, dustcoat, neck wear part, muffetee, armlet, earphone and their any combination.

It is a further object to provide voice activation control systems as described above, wherein in following at least it First is that be applicable in:

A. at least one described instrument is selected from by following groups constituted: endoscope, microscope, mechanical arm, laparoscope, operation Lamp, operating table, surgical camera, imaging device, injection device, measuring device, optical device, stereotactic apparatus, positioning are set Standby, pumping equipment, water-tight equipment, ablating device, device for excising, dissection device and their any combination；

B. the speech transducer includes:

Microphone, the microphone are configured to pick up at least one described voice command；And

Voice recognition unit, the voice recognition unit are configured to at least one sound described in being picked up as the microphone Sound order executes voice recognition algorithm, thus to identify at least one described voice command；The voice recognition algorithm be selected from by The group of following compositions: hidden Markov model, dynamic time warping, neural network, deep neural network and theirs is any Combination；

C. the processor further includes storage unit, for storing the database of digital audio signal；

D. the sender unit is selected from by following groups constituted: RFID, IR transmitter, number RF, RF communication, bluetooth are set Standby and their any combination；

E. at least one described voice command is selected from by following groups constituted: " unlatching ", " closing ", " amplification ", " diminution ", "left", "right", "upper", "lower", " starting ", " stopping ", " increase ", " reduction ", " opening ", " closed ", " suture ", " cutting ", " ablation ", " selection " and their any combination；

F. the speech transducer is connected to the sender unit by non-wireless means or wireless device；

G. the processor is connected to the sender unit by non-wireless means or wireless device；

H. the system also includes feedback mechanism, feedback mechanism is configured to receive by the member in following groups constituted: Audio signal, visual signal and their any combination, also, feedback mechanism is configured to indicate that holding for the voice command Row state；And

I. at least one response of at least one voice command described at least one selected from by following groups constituted: intelligence It can respond, non intelligent response and their any combination, the intelligent response are configured to consider at least the one of ambient enviroment A feature and the non intelligent response do not consider any feature of the ambient enviroment；The feature is selected from and is made of following Group: the dangerous or interference between obstacle, two operation tools, instrument two components between interference, between two instruments Interference, a possibility that damage is caused to a part of patient and their any combination.

It is a further object to provide voice activation control systems as described above, wherein it is described at least one Voice command includes at least one complicated sentence；The speech transducer further includes context recognition unit, context recognition unit quilt It is configured to identify at least one described voice command according to the complicated sentence.

It is a further object to provide voice activation control systems as described above, wherein the voice command Be be not defined or including at least one qualifier, at least one described qualifier is configured at least one to response Component is modified, and at least one of following is applicable:

A. the qualifier is selected from by following groups constituted: amount, operation tool, instrument and their any combination；With And

B. the amount is fixed entry value either fractional value.

It is a further object to provide voice activation control systems as described above, wherein the life not being defined Order be configured to include pre-determining qualifier or be configured to continue process until stop.

A. the pre-determining qualifier amount of being, the amount are fixed entry value either fractional values；

B. the voice command is configured to reversibly select the member by following groups constituted: instrument, operation tool, At least part of patient and their any combination；The selected duration is selected from by following groups constituted: up in advance It determines the time or until receives change order；

C. the voice command is configured to change by the member in following groups constituted: pre-determining amount, value, the type of value And their any combination.

It is a further object to provide voice activation control systems as described above, wherein described transmissible Voice signal to the conversion of the operational order group of at least one pre-determining is carried out via the rule group of pre-determining, Regular group of at least one pre-determining includes selected from by least one rule of following groups constituted: most-often used tool gauge Then, right side tool rule, left side tool rule, visual field rule, no-fly zone rule, route rule, environmental planning, operator's input Rule, close rule, anticollision rule, the rule based on history, the mobile rule be allowed to and restrained depending on tool Then, preferred volume area rule, preferred kit are regular, movement detected rule, labeled tool rule, go to rule, rate change Rule and their any combination；According to regular group of the pre-determining, the controller permit described in the movement that is allowed to And the controller refuses the restrained movement.

A. at least one described instrument includes operon system, and operon system is configured to the rule according to the pre-determining Then group relocates at least one described operation tool spatially；

B. the route rule include store predefined route can communications database, at least one described operation tool quilt It is configured to move in the surgical environments along predefined route；The predefined route includes at least one described operation tool N 3d space position；N is greater than or equal to 2 integer；The movement being allowed to is wherein at least one described operation Tool is positioned substantially at least one spatial displacement in the n 3d space position of the predefined route, And the restrained movement is that the site of wherein at least one operation tool is substantially different from described make a reservation for The movement of the n 3d space position of adopted route；

C. the environmental planning include can communications database；Can communications database be configured to receive the surgical environments At least one realtime graphic and be configured to the realtime graphic execute scan picture and determine in the operation The 3d space position of the danger of at least one of environment or obstacle；The environmental planning is configured to according in the surgical environments Described dangerous or obstacle determine the movement and the restrained movement being allowed to so that the restrained movement It is the shifting that wherein at least one described operation tool is positioned substantially at least one spatial position in the 3d space position It is dynamic, and the movement being allowed to is that the site of wherein at least one operation tool is substantially different from the 3d space The movement of position；At least one described dangerous or obstacle is selected from by following groups constituted: tissue, operation tool, organ, endoscope And their any combination；

D. the close rule is configured to define at least one of following: pre- true between at least two operation tools Pre-determining angle between set a distance and at least two operation tools；For the pre-determining distance, the shifting being allowed to Dynamic is the movement within the scope of pre-determining distance or except range, and the restrained movement is described pre- Determine except the range of distance or within the scope of movement；For the pre-determining angle；The movement being allowed to is in institute The movement within the scope of pre-determining angle or except range is stated, and the restrained movement is in the pre-determining angle Range except or within the scope of movement；

E. the anticollision rule be configured to be defined at least one described operation tool in the surgical environments with Pre-determining distance between anatomy element；The movement being allowed to is the shifting in the range for being greater than the pre-determining distance It is dynamic, and the restrained movement is the movement in the range for being less than the pre-determining distance；The anatomy element choosing The group of free following compositions: tissue, organ, other operation tools and their any combination；

F. the no-fly zone rule include there is n 3d space position can communications database；N is greater than or equal to 2 Integer；N 3d space position is defined on the pre-determining volume in the surgical environments；The no-fly zone rule is configured At: if the movement is in the no-fly zone, it is determined that the restrained movement, and if the movement in the taboo Fly outside area, it is determined that the movement being allowed to, so that the restrained movement is wherein described in the operation tool At least one operation tool is positioned substantially at least one spatial displacement in n 3d space position, and The movement being allowed to is that the site of wherein at least one operation tool is substantially different from n 3d space position Movement；

G. preferred volume area rule include there is n 3d space position can communications database；N is greater than or waits In 2 integer；N 3d space position provides the preferred volume area；Preferred volume area rule is configured to determine Movement that the operation tool is allowed to described in n 3d space position and the operation tool are in the n The restrained movement outside a 3d space position, so that the movement being allowed to is that wherein the operation tool is at least A part is positioned substantially at least one spatial displacement in n 3d space position, and described restrained Movement be that the site of the wherein operation tool is substantially different from the movement of n 3d space position；

H. the rule based on history include can communications database, the rule based on history can communications database storage Each 3d space position of each operation tool in the operation tool, so that each movement of each operation tool is deposited Storage；The history movement that the rule based on history is configured at least one operation tool according to is allowed to described in determining Movement and the restrained movement so that the movement being allowed to is that wherein at least one described operation tool is substantially At least one spatial displacement being located in the 3d space position, and the restrained movement is wherein described The site of at least one operation tool is substantially different from the movement of n 3d space position；

I. it is described go to rule include can communications database；Can communications database be configured to receive include n 3d space The input of position；N is greater than or equal to 1 integer；The movement being allowed to is selected from by the movement of following groups constituted: The labeled tool is redirected so that at least part of the labeled tool to be located in n 3d space position At least one spatial position on or the movement being allowed to be that wherein the labeled tool is redirected with will be described At least part of labeled tool is located in relative to the pre- true of at least one spatial position in n 3d space position Position the movement set；

J. change in rule in the rate, the system is configured to be continually monitored in the surgical environments described The distance between the tip of operation tool and at least one object, so that the rate of the operation tool is carried out according to the distance Variation；And

K. the operon system is configured to make described at least one according to regular group of the pre-determining during operation A operation tool spatially relocates, so that if the movement of at least one operation tool is restrained shifting Dynamic, then the operon system prevents the movement.

It is a further object to provide voice activation control systems as described above, wherein the system is matched It is set to and the alarm of the restrained movement at least one operation tool is provided.

It is a further object to provide voice activation control systems as described above, wherein the operator is defeated Enter rule include can communications database；It is described can communications database be configured to receive the operator from the system about The input of the movement and the restrained movement being allowed to of at least one operation tool；It is at least one of following It is applicable:

A. the input includes n 3d space position；N is greater than or equal to 2 integer；Wherein, the spatial position In at least one spatial position be defined as the site being allowed to, and at least one spatial position in the spatial position It is defined as restrained site, so that the movement being allowed to is that wherein at least one described operation tool substantially positions At least one spatial displacement in n 3d space position, and the restrained movement is wherein described The site of at least one operation tool is substantially different from the movement of n 3d space position；

B. the input includes at least one rule, and according to this, at least one rule, can determine at least one described hand The movement and the restrained movement being allowed to of art tool, so that the spatial position of at least one operation tool The movement and the restrained movement be allowed to according to as the controller is controlled；Regular group of the pre-determining Including selected from by least one of following groups constituted rule: most-often used tool, right side tool rule, left side tool gauge Then, visual field rule, no-fly zone rule, route rule, environmental planning, operator's input rule, close to rule, anticollision rule, Preferred volume area rule, mobile detected rule, the rule based on history, is allowed to depending on tool preferred kit rule With restrained movement rule and their any combination；And

C. the movement that operator's input rule will be allowed is converted into restrained movement and by restrained shifting Turn changes the movement being allowed into.

It is a further object to provide voice activation control systems as described above, wherein the controller is quasi- Perhaps the described movement being allowed to, and the controller refuses the restrained movement.

It is a further object to provide voice activation control systems as described above, wherein in following at least it First is that be applicable in: (a) system also comprises endoscope；The endoscope is configured to provide the surgical environments at least One realtime graphic；(b) at least one operation tool in the operation tool is arranged to provide the surgical environments The endoscope of at least one realtime graphic.

A. the most-often used tool rule include can communications database, this can communications database in the operation tool The amount of movement of each operation tool counted；The most-often used tool rule is configured to constantly position in described Sight glass is to track the movement of most normal mobile operation tool；The alarm is selected from by following groups constituted: audio signal, voice letter Number, optical signal, flash signal and their any combination；

B. the right side tool rule is configured to the movement of the operation tool according to the right side for being located in the endoscope To determine the movement being allowed to of the endoscope；

C. the left side tool rule is configured to the movement of the operation tool according to the left side for being located in the endoscope To determine the movement being allowed to of the endoscope；

D. the labeled tool rule includes a device, the device which includes be configured to At least one operation tool in the surgical environments be marked and determine the endoscope to be constantly tracked State the movement being allowed to of the movement of labeled operation tool；

E. the visual field rule include there is n 3d space position can communications database；N is greater than or equal to 2 Integer；The combination of all n 3d space positions provides the pre-determining visual field；The visual field rule is configured to determine described Endoscope in n 3d space position described in the movement that is allowed to, so as to the visual field kept constant, so that described permitted Perhaps movement is the shifting that wherein endoscope is positioned substantially at least one spatial position in n 3d space position It is dynamic, and the restrained movement is that the site of the wherein endoscope is substantially different from n 3d space position It is mobile；

F. the preferred kit rule include can communications database, the database purchase preferred kit；The preferred work Tool rule, which is configured to determine, to be allowed to described in the movement to be constantly tracked the preferred kit of the endoscope It is mobile；

G. including depending on the movement rule be allowed to and restrained of tool described in can communications database；It is described to lead to Telecommunications databases are configured to store the pre-determining characteristic of at least one operation tool at least one described operation tool；It is described Movement rule be allowed to and restrained depending on tool is configured to determine the quilt according to the pre-determining characteristic The movement of permission and the restrained movement；So that the movement being allowed to is at least one described in the tracking of the endoscope The movement of at least one operation tool in a operation tool with the pre-determining characteristic；The operation tool it is described Pre-determining characteristic is selected from by following groups constituted: physical size, structure, weight, sharpness and their any combination；And

H. the mobile detected rule include can communications database, can communications database include every in the operation tool The real-time 3d space position of a operation tool；The mobile detected rule is configured to when the change for receiving the 3d space position The movement that at least one operation tool is detected when change, so that the movement being allowed to is that wherein the endoscope is reset To the movement to focus on mobile operation tool；And

I. it is described go to rule include can communications database；Can communications database be configured to receive include n 3d space The input of position；N is greater than or equal to 1 integer；The movement being allowed to is that wherein endoscope is redirected to focus Movement at least one spatial position in n 3d space position.

It is a further object to provide voice activation control systems as described above, wherein each rule It is associated with weighting function.

It is a further object to provide voice activation control systems as described above, wherein described at least one Weighting function is time change function, and the value of time change function can be by by least one member in following groups constituted It determines: operator's input, event, object and their any combination.

It is a further object to provide voice activation control systems as described above, also comprise at least one Site estimator, wherein at least one described site estimator includes at least one endoscope, which is matched It is set to the realtime graphic obtained in the intracorporal surgical environments of the people；And at least one operation instrument space site is soft Part, at least one the operation instrument space site software are configured to receive at least one described real-time figure of the surgical environments Picture and the 3d space position for estimating at least one operation tool.

A. at least one described site estimator is included (a) selected from by least one element of following groups constituted: optics Imaging device, radio frequency transmission and receiving device, at least one mark at least one described operation tool and they Any combination；And (b) at least one operation instrument space site software, at least one operation instrument space site software It is configured to be estimated by means of the element 3d space position of at least one operation tool；

B. at least one described site estimator is the interface subsystem between surgeon and at least one operation tool, Interface subsystem includes:

I. at least one includes the array of N number of rule or pattern light source, wherein N is positive integer；

Ii. at least one includes the array of M video camera, each camera shooting in M video camera

Machine, wherein M is positive integer；

Iii. optional optics mark and for optics mark to be attached at least one operation tool

Device；And；

Iv. the computerized Algorithm that can be run via controller, computerized Algorithm are configured

To record the received image of each video camera as in each of M video camera and therefrom calculating work

The position of each tool in tool, and be additionally configured to automatic to the human operator of the interface

Ground provides the result calculated.

It is a further object to provide one kind to control at least one device in operation setting via voice activation The method of tool, the described method comprises the following steps:

A. voice activation control system is provided, voice activation control system includes:

I. speech transducer, speech transducer are configured to detect at least one surgery by being located in the surgical environments At least one voice command that doctor generates；

Ii. sender unit, sender unit are operably connected to the speech transducer, and the transmitter is configured At at least one described voice command to be converted into described at least one transmissible voice signal and transmission, at least one can The voice signal of transmission；

Iii. processor, processor are operably connected to the sender unit, be configured to receive it is described at least One transmissible voice signal, the processor be configured at least one described transmissible voice signal being converted into The operational order group of at least one associated pre-determining of at least one instrument, the operation of at least one pre-determining refer to Enabling group includes at least one instruction；And

Iv. at least one control device, at least one control device be operably connected to the processor and it is described extremely A few instrument；At least one described control device be configured to receive the operational order group of the pre-determining and make it is described extremely A few instrument is correspondingly run；

B. at least one surgeon as described in operation setting is detected via the speech transducer to generate At least one described voice command；

C. at least one described voice command is converted into transmissible voice signal via the sender unit；

D. the transmissible voice signal is sent using the sender unit；

E. the transmissible voice signal is received by being operably connected to the processor of the transmitter；

F. the transmissible voice signal is converted into via the processor associated at least one described instrument At least one pre-determining operational order group,

G. it is filled by being operably connected at least one control described in the processor and at least one described instrument Set the instruction group for receiving the pre-determining；

H. at least one described device is operated according to the instruction group of the pre-determining using at least one described control device Tool；

It is a further object to provide methods as described above, additionally include selecting the wearable elements The step of site, the sites of the wearable elements are selected from by following groups constituted: being integrated in can be by described outside at least one In the operation wearable elements of section doctor wearing, be integrated in the system is interior, could attach to the system at least part, with And their any combination.

It is a further object to provide methods as described above, additionally include selecting from by following groups constituted The step of selecting the operation wearable elements: mask, headgear, head-wearing piece, cap, shoe cover, gloves, hospital's robe, operation uniform, Dustcoat, neck wear part, muffetee, armlet, earphone and their any combination.

It is a further object to provide methods as described above, additionally include the following steps at least one It is a:

A. select at least one described instrument from by following groups constituted: endoscope, microscope, mechanical arm, laparoscope, Operating lamp, surgical camera, imaging device, injection device, measuring device, optical device, stereotactic apparatus, is determined operating table Position equipment, pumping equipment, water-tight equipment, ablating device, device for excising, dissection device and their any combination；

B., the speech transducer is set, and speech transducer includes:

Microphone, microphone are configured to pick up at least one described voice command；And

Voice recognition unit, voice recognition unit are configured to at least one sound described in being picked up as the microphone Order executes voice recognition algorithm, thus to identify at least one described voice command；The voice recognition algorithm is selected under State the group of composition: hidden Markov model, dynamic time warping, neural network, deep neural network and their any group It closes；

C. it further includes storage unit that the processor, which is arranged, for storing the database of digital audio signal；

D. the sender unit: RFID, IR transmitter, number RF, RF communication, indigo plant is selected from by following groups constituted Tooth equipment and their any combination；

E. at least one described voice command: " unlatching ", " closing ", " amplification ", " contracting is selected from by following groups constituted It is small ", "left", "right", "upper", "lower", " starting ", " stopping ", " increase ", " reduction ", " opening ", " closed ", " suture ", " cut Cut ", " ablation ", " selection " and their any combination；

H. be arranged the system also includes feedback mechanism, feedback mechanism be configured as receiving by following groups constituted at Member: audio signal, visual signal and their any combination, also, feedback mechanism is configured to indicate that the voice command Execution state；And

I. at least one response of at least one voice command described at least one is selected from by following groups constituted: Intelligent response, non intelligent response and their any combination, the intelligent response are configured to consider ambient enviroment at least One feature and the non intelligent response do not consider any feature of the ambient enviroment；The feature is selected from by following structures At group: interference between dangerous or interference, instrument between obstacle, two operation tools two components, two instruments it Between interference, a possibility that damage is caused to a part of patient and their any combination.

It is a further object to provide methods as described above, additionally include the following steps: that setting is described extremely A few voice command includes at least one complicated sentence；It further includes context recognition unit that the speech transducer, which is arranged,；And At least one described voice command is identified according to the complicated sentence by means of the context recognition unit.

It is a further object to provide methods as described above, additionally include the following steps: that the sound is arranged Sound order, voice command be not defined or including at least one qualifier, at least one described qualifier is configured to At least one of at least one component of response is modified, and additionally included the following steps:

A. the qualifier is selected from by following groups constituted: amount, operation tool, instrument and their any group It closes；And

B. the amount is selected as fixed entry value either fractional value.

It is a further object to provide methods as described above, additionally include the following steps: that setting is described not The order being defined, the order not being defined include pre-determining qualifier or continue process until stopping.

A. by the pre-determining qualifier amount of being set as, and the amount is selected as fixed entry value or fractional value；

B. the voice command is reversibly selected by the member in following groups constituted: instrument, operation tool, patient are extremely Few a part and their any combination；And the selected duration is selected from by following groups constituted: up in advance It determines the time or until receives change order；

C. the order of sound life changes by the member of following groups constituted: pre-determining amount, value, the type of value and they Any combination.

It is a further object to provide methods as described above, additionally include the following steps: via pre-determining Regular group the transmissible voice signal is converted into the operational order group of at least one pre-determining, and institute is set Regular group for stating at least one pre-determining includes selected from by least one rule of following groups constituted: most-often used tool, the right side Side tool rule, left side tool rule, visual field rule, no-fly zone rule, route rule, environmental planning, operator's input rule, Close to rule；Anticollision rule, the rule based on history, the movement rule be allowed to and restrained, excellent depending on tool Select volume area rule, preferred kit rule, mobile detected rule, labeled tool rule, go to rule, rate change rule with And their any combination；The movement being allowed to described in the controller allowance according to regular group of the pre-determining and institute It states controller and refuses the restrained movement.

A. it includes operon system that at least one described instrument, which is arranged, and operon system is configured to according to the pre-determining Regular group relocate at least one described operation tool spatially；

B. be arranged the route rule include store predefined route can communications database, it is described at least one operation work Tool is configured to move in the surgical environments along predefined route；The predefined route includes at least one described operation N 3d space position of tool；N is greater than or equal to 2 integer；The movement being allowed to be wherein it is described at least one Operation tool is positioned substantially at the shifting of at least one spatial position in the n 3d space position of the predefined route It is dynamic, and the restrained movement be wherein at least one operation tool the site be substantially different from it is described pre- Define the movement of the n 3d space position of route；

C. be arranged the environmental planning include can communications database；It is described can communications database be configured to receive the hand At least one realtime graphic of art environment and be configured to realtime graphic execute scan picture and determine described The 3d space position of at least one danger or obstacle in surgical environments；The environmental planning is configured to according to the surgical environments In described dangerous or obstacle determine described in the movement and the restrained movement that are allowed to so that the restrained movement It is the shifting that wherein at least one described operation tool is positioned substantially at least one spatial position in the 3d space position It is dynamic, and the movement being allowed to is that the site of wherein at least one operation tool is substantially different from the 3d space The movement of position；At least one described dangerous or obstacle is selected from by following groups constituted: tissue, operation tool, organ, endoscope And their any combination；

D. be arranged it is described defined close to rule it is at least one of following: pre-determining between at least two operation tools away from From and at least two operation tools between pre-determining angle；For the pre-determining distance, the movement being allowed to is Movement within the scope of the pre-determining distance or except range, and the restrained movement is in the pre-determining Except the range of distance or within the scope of movement；For the pre-determining angle；The movement being allowed to is described pre- Determine the movement within the scope of angle or except range, and the restrained movement is the model in the pre-determining angle Except enclosing or within the scope of movement；

E., the anticollision rule is set and is defined in the surgical environments at least one described operation tool and anatomy Pre-determining distance between element；The movement being allowed to is the movement in the range for being greater than the pre-determining distance, and And the restrained movement is the movement in the range for being less than the pre-determining distance；The anatomy element is selected under State the group of composition: tissue, organ, other operation tools and their any combination；

F. be arranged the no-fly zone rule include there is n 3d space position can communications database；N is greater than or waits In 2 integer；N 3d space position is defined on the pre-determining volume in the surgical environments；The no-fly zone rule quilt Be configured to: if the movement is in the no-fly zone, it is determined that the restrained movement, and if the movement in institute It states outside no-fly zone, it is determined that the movement being allowed to, so that the restrained movement is wherein in the operation tool At least one described operation tool is substantially positioned in the shifting of at least one spatial position in n 3d space position It is dynamic, and the movement being allowed to is that the site of wherein at least one operation tool is substantially different from the n 3D Spatial displacement；

G. be arranged preferred volume area rule include there is n 3d space position can communications database；N be greater than or Person is equal to 2 integer；N 3d space position provides the preferred volume area；Preferred volume area rule is configured to The movement being allowed to described in determining the operation tool in n 3d space position and the operation tool are described The restrained movement outside n 3d space position, so that the movement being allowed to is that wherein the operation tool is extremely Few a part is positioned substantially at least one spatial displacement in n 3d space position, and described by about The movement of beam is the movement that the site of the wherein operation tool is substantially different from n 3d space position；

H. be arranged the rule based on history include can communications database, can communications database store the operation tool In each operation tool each 3d space position so that each movement of each operation tool is stored；It is described to be based on The rule of history is configured to move the movement being allowed to described in determination and institute according to the history of at least one operation tool State restrained movement so that the movement being allowed to be wherein at least one described operation tool be positioned substantially at it is described At least one spatial displacement in 3d space position, and the restrained movement is wherein at least one described hand The site of art tool is substantially different from the movement of n 3d space position；

I. setting described in go to rule include can communications database, it is described can communications database be configured to receive include n The input of a 3d space position；N is greater than or equal to 1 integer；The movement being allowed to following selected from being made of The movement of group: the labeled tool is redirected so that at least part of the labeled tool is located in the n 3D On at least one spatial position in spatial position, and the movement being allowed to is that wherein the labeled tool is reset To being located at least part of the labeled tool relative at least one space in n 3d space position The movement of the pre-determining position of position；

J. change in rule in the rate, be continually monitored in the surgical environments tip of the operation tool with The distance between at least one object, so that the rate of the operation tool is changed according to the distance；And

K., the operon system is set, and system makes the operon according to regular group of the pre-determining during operation At least one described operation tool spatially relocates during operation, so that if the institute of at least one operation tool Stating movement is restrained movement, then the operon system prevents the movement.

It is a further object to provide methods as described above, additionally include the following steps: to provide to described The alarm of the restrained movement of at least one operation tool.

It is a further object to provide methods as described above, additionally include the following steps: that the behaviour is arranged Author's input rule includes can communications database；It is described can communications database be configured to receive the operator from the system The movement being allowed to described at least one described operation tool and the restrained movement input；Additionally wrap Include at least one of following step:

A. it includes n 3d space position that the input, which is arranged,；N is greater than or equal to 2 integer；In spatial position extremely A few spatial position is defined as the site being allowed to, and at least one spatial position in spatial position be defined as by The site of constraint, so that the movement being allowed to is that wherein at least one described operation tool is positioned substantially at the n At least one spatial displacement in 3d space position, and the restrained movement is wherein at least one described hand The site of art tool is substantially different from the movement of n 3d space position；

B. be arranged it is described input include at least one rule, according at least one rule, can determine it is described at least one The movement and the restrained movement being allowed to of operation tool, so that the space bit of at least one operation tool It sets the movement being allowed to according to as the controller and the restrained movement is controlled；The rule of the pre-determining Group includes selected from by least one of following groups constituted rule: most-often used tool, right side tool rule, left side tool gauge Then, visual field rule, no-fly zone rule, route rule, environmental planning, operator's input rule, close rule；Anticollision rule, Preferred volume area rule, mobile detected rule, the rule based on history, is allowed to depending on tool preferred kit rule With restrained movement rule and their any combination；And

C. the movement that operator's input rule will be allowed is converted into restrained movement, and by restrained movement It is converted into the movement being allowed to.

It is a further object to provide methods as described above, additionally include the following steps: the controller The movement being allowed to described in allowance, and the controller refuses the restrained movement.

It is a further object to provide methods as described above, additionally include the following steps at least one A: it additionally includes endoscope that the system (a), which is arranged, and the endoscope provides at least one reality of the surgical environments When image；(b) at least one operation tool in the operation tool is arranged to provide at least the one of the surgical environments The endoscope of a realtime graphic.

A. be arranged the most-often used tool rule include can communications database, can communications database to the operation tool In the amount of movement of each operation tool counted；The most-often used tool rule is configured to constantly position described Endoscope is to track the movement of most normal mobile operation tool；The alarm is selected from by following groups constituted: audio signal, voice letter Number, optical signal, flash signal and their any combination；

B., right side tool rule is set, and the right side tool rule is according to the hand on the right side for being located in the endoscope The movement of art tool determines the movement being allowed to of the endoscope；

C., left side tool rule is set, and the left side tool rule is according to the hand in the left side for being located in the endoscope The movement of art tool determines the movement being allowed to of the endoscope；

D. it includes a device that the labeled tool rule, which is arranged, and the device which includes is configured to At least one operation tool in the surgical environments is marked and determine the endoscope to constantly with The movement being allowed to of the movement of operation tool is labeled described in track；

E. be arranged the visual field rule include there is n 3d space position can communications database；N is greater than or equal to 2 integer；The combination of all n 3d space positions provides the pre-determining visual field；The visual field rule is configured to determine The endoscope in n 3d space position described in the movement that is allowed to, so as to the visual field kept constant, so that described The movement being allowed to is that wherein the endoscope is positioned substantially at least one spatial position in n 3d space position Movement, and the restrained movement is that the site of the wherein endoscope is substantially different from n 3d space position The movement set；

F. be arranged the preferred kit rule include can communications database, the database purchase preferred kit；It is described excellent The described of the movement to be constantly tracked the preferred kit that selection tool rule is configured to determine the endoscope is permitted Perhaps movement；

G. including depending on the movement rule be allowed to and restrained of tool described in setting can communications database；It is described Can communications database be configured to store the pre-determining characteristic of at least one operation tool at least one described operation tool； The movement rule be allowed to and restrained depending on tool is configured to according to the pre-determining characteristic to determine State the movement being allowed to and the restrained movement；So that the movement being allowed to be described in the tracking of the endoscope extremely The movement of at least one operation tool with the pre-determining characteristic in a few operation tool；The operation tool The pre-determining characteristic is selected from by following groups constituted: physical size, structure, weight, sharpness and their any combination；

H. it includes having the real-time 3D of each operation tool in the operation tool empty that the mobile detected rule, which is arranged, Between position can communications database；The mobile detected rule is configured to the inspection when receiving the variation of the 3d space position The movement of at least one operation tool is surveyed, so that the movement being allowed to is that wherein the endoscope is redirected with poly- Movement of the coke on mobile operation tool；And

I. setting described in go to rule include can communications database；Can communications database be configured to receive include n 3D The input of spatial position；N is greater than or equal to 1 integer；The movement being allowed to be wherein endoscope be redirected with Focus on the movement at least one 3d space position in n 3d space position.

It is a further object to provide methods as described above, additionally include by weighting function and each described The associated step of rule.

It is a further object to provide methods as described above, additionally include the following steps: at least one The weighting function is set as time change function, and by determining time-varying letter by least one member in following groups constituted Several value: operator's input, event, object and their any combination.

It is a further object to provide methods as described above, additionally include the following steps: setting at least one A site estimator, at least one described site estimator includes at least one endoscope, which is configured At at least one realtime graphic obtained in the intracorporal surgical environments of the people；And at least one operation instrument space bit Point software, at least one the operation instrument space site software are configured to receive at least one described reality of the surgical environments When image and estimate the 3d space position of at least one operation tool.

A., at least one described site estimator is set, which is included (a) selected from by following structures At group at least one element: optical imaging device, radio frequency transmission and receiving device are located at least one described operation work At least one mark and their any combination on tool；And (b) at least one operation instrument space site software, it should At least one operation instrument space site software is configured to be estimated at least one operation tool by means of the element The 3d space position；

B. connecing between surgeon and at least one operation tool is set by least one described site estimator Interface subsystem, interface subsystem include:

Ii. at least one includes the array of M video camera, each video camera in M video camera, wherein M is just whole Number；

Iii. optional optics mark and the device for optics mark to be attached to at least one operation tool；With And；

Iv. the computerized Algorithm that can be run via controller, computerized Algorithm are configured as record and are imaged by M The received image of each video camera in each of machine and the position for therefrom calculating each tool in the tool, and be also configured For the result for being automatically provided calculating to the human operator of interface.

Detailed description of the invention

In the detailed description of following preferred embodiment, with reference to forming part of it and wherein shown in a manner of enumerating The attached drawing that can practice only certain exemplary embodiments of this invention is gone out.It should be appreciated that without departing from the scope of the invention, It can use other embodiments and structure change can be carried out.In the feelings without some or all of these details Under condition, the present invention can be realized according to claim.For the sake of clarity, it is not described in technology neck related to the present invention Known technologic material in domain, so that the present invention will not be obscured unnecessarily.In the accompanying drawings:

Fig. 1 a to Fig. 1 b is the schematic diagram of voice activation control system (100) according to the preferred embodiment of the present invention；

Fig. 2 is flow chart, and the flow diagrams illustrate voice activation control processes according to the preferred embodiment of the present invention The whole high-level view of method；

Fig. 3 a to Fig. 3 d schematically shows the operation of the embodiment of the tracking system with the system that avoids collision；

Fig. 4 a to Fig. 4 d schematically shows the fortune of the embodiment with no-fly zone rule/function tracking system Row；

Fig. 5 a to Fig. 5 d schematically shows the embodiment with preferred volume area rule/function tracking system Operation；

Fig. 6 schematically shows the operation of organ detection function/rule embodiment；

Fig. 7 schematically shows the operation of tool detection function/rule embodiment；

Fig. 8 a to Fig. 8 b schematically shows the operation of the embodiment of mobile detection function/rule；

Fig. 9 a to Fig. 9 d schematically shows the operation of anticipation function/rule embodiment；

Figure 10 schematically shows the operation of right side tool function/rule embodiment；

Figure 11 a to Figure 11 b schematically shows the operation of visual field function/rule embodiment；

Figure 12 schematically shows the operation of the embodiment of labeled tool function/rule；

Figure 13 a to Figure 13 c schematically shows the operation close to function/rule embodiment；

Figure 14 a to Figure 14 b schematically shows the operation of operator's input function/rule embodiment；

Figure 15 a to Figure 15 d schematically shows the embodiment of the tracking system with constant visual field rule/function；

Figure 16 schematically shows the embodiment for changing rule/function tracking system with rate；

Figure 17 a to Figure 17 b and Figure 18 a to Figure 18 b, which schematically shows to have, goes to rule/function tracking system Embodiment；

Figure 19 schematically shows the embodiment of intelligent response；And

Figure 20 schematically shows the embodiment intelligently ordered.

Specific embodiment

In the detailed description of following preferred embodiment, with reference to forming part of it and wherein shown in a manner of enumerating The attached drawing that can practice only certain exemplary embodiments of this invention is gone out.It should be appreciated that without departing from the scope of the invention, It can use other embodiments and structure change can be carried out.In the feelings without some or all of these details Under condition, the present invention can be realized according to claim.For the sake of clarity, it is not described in technology neck related to the present invention Known technologic material in domain, so that the present invention will not be obscured unnecessarily.Essence of the invention is to provide a kind of in hand The voice activation control system of multiple instruments is controlled in art setting；The system includes speech transducer and sender unit, voice Sensor and sender unit are integrated with the surgeon in operation setting/operator's wearing Operation mask.

Term " operation setting " is hereinafter referred in any environment for wherein executing surgical operation.The most common example is behaviour Make room.There may be one or more surgeons/operator to participate in an operation setting.

Term " operation wearable elements " is hereinafter referred to can be by surgeon, nurse or any technology in operating room Any wearable elements of personnel's wearing.The element is selected from by following groups constituted: mask, headgear, head-wearing piece, gloves, doctor President's robe, operation uniform, dustcoat and their any combination.

Term " surgeon " or " operator " are hereinafter referred to any professional in operating room.For example, operation Surgeon or any operator (individual).

Term " instrument " is hereinafter referred to any the equipment or instrument in operation setting.Example is peeped in including but is not limited to Mirror, microscope, mechanical arm, laparoscope, operating lamp, operating table, surgical camera, imaging device, injection device, measuring device, Optical device, stereotactic apparatus, positioning device, pumping equipment, water-tight equipment, ablating device, device for excising, dissection device with And their any combination

Term " sound " hereinafter interchangeably refers to " voice ", with sound in relation to or with acoustic expression anything, it is all Such as the sound.

Term " voice command " contains the use provided by surgeon/surgical staff hereinafter referred to any spoken phrase With change instrument at least one in terms of instruction information.Example includes but is not limited to simple order, including " unlatching ", " pass Close ", " amplification ", " diminution ", "left", "right", "upper", "lower", " starting ", " stopping ", " increase ", " reduction ", " opening ", " close Close " etc..More complicated order including but not limited to " suture ", " cutting ", " ablation ", " selection " etc..According to preferred embodiment, Voice command can be the sentence of one or more complexity.

Term " Operation mask " is hereinafter referred to the protection of the surgeon by being located in operation setting/operator's wearing Mask, the bacterium in drop and aerosol to capture mouth and nose from wearer.

Term " multiple " hereinafter interchangeably refers to Integer n, wherein n > 1.

Sound table of the term " qualifier (qualifier, modifier, qualifier) " hereinafter referred to modification voice command It reaches.Non-limiting example includes amount, options (selector) and their any combination.

Term " amount (amount) " hereinafter refers to the value for modifying voice command.Amount can be the score of value, example Such as, the score of visual field size, the score of illumination level, the score etc. of existing temperature, or fixed amount, such as specified distance (for example, as unit of cm or mm), the specified variable quantity in illumination level (for example, as unit of lux or candela), refers to Fixed temperature change (for example, as unit of degree Celsius C or degrees Fahrenheit F).

Term " tool ", " operation tool " or " operation instrument " is hereinafter referred to any instrument that can be introduced into human body or sets It is standby.The term can any site on finger tool.For example, it can refer to the tip of tool, the main body of tool and they Any combination.It is also pointed out that endoscope can be known as operation tool/instrument by being described below.

Object of the term " danger " hereinafter referred to the either possible damaging action object of the object that may be damaged by movement. Dangerous non-limiting example is the tissue that possible damaged by mobile operation tool.

Term " obstacle " is hereinafter referred to the object for preventing execution from acting.The non-limiting example of obstacle includes stopping movement Tool path tool, or stop the mechanical arm in the path of the robotic arm of another movement.

Term " interested position " interested may be located in human body hereinafter referred to the operator of present system Any position.Interested position can be, for example, it is close by about to stay on the organ of operation, constraint operation instrument The area of beam, operation instrument or be located at any other intracorporal position of people.

Term " spatial position " is hereinafter referred to the space site of the pre-determining of object and/or orientation (for example, endoscope Space site, endoscopic angle orientation and their any combination).

Term " forbidden region " is spatially positioned at it hereinafter referred to forbidding operation tool (for example, endoscope) In pre-determining region.

Term " favored area " makes operation tool (for example, endoscope) exist hereinafter referred to following permissions and/or preferably Spatially it is positioned at the region of pre-determining therein.

For term " automation assistant " hereinafter referred to any mechanical equipment (including but not limited to robot device), this is any Mechanical equipment can manipulate and control the position of operation instrument or endoscopic instrument and in addition can be configured as reception and come from The order of remote source.

Term " offer " is hereinafter referred to following any processes (vision, tactile or the sense of hearing): passing through the process, instrument Device, computer, controller or any other mechanically or electrically equipment can to human operator report calculate or other operate As a result.

Term " automatic " " automatically " refers to that is carried out in the case where a part of direct intervention of nobody or effect appoints What process.

Term " permission " is hereinafter referred to any movement being allowed according to regular group of pre-determining.

Term " restrained " is hereinafter referred to any movement forbidden according to regular group of pre-determining.For example, for Instrument including operon system, a rule provide preferred volume area rule, and preferred volume area rule, which defines, is located at operation Range of profitability in environment.Therefore, according to the present invention, the movement that is allowed to of operation tool or endoscope is to keep operation tool Movement in range of profitability；And the restrained movement of operation tool is will to extract (or mobile) out in operation tool to advantageous Movement outside region.

Term " working time of the time step hereinafter referred to system.In each time step, system, which receives, carrys out autobiography The data of sensor and order from operator, and the data and order handle and execute movement.Time step is big Small is elapsed time between time step.Term " about " is hereinafter referred to more than limit value or few 20%.

Referring now to Fig. 1 a to Fig. 1 b, voice activation control system is schematically shown in a manner of not to scale (NTS) (100) embodiment.

In fig 1 a, voice activation control system (100) includes speech transducer (20), which is configured as One or more voice commands (25) that detection is generated by the surgeon/operator (5) being located in operation setting.Sound life Order may is that simple phrase, such as, but not limited to " unlatching ", " closing ", " amplification ", " diminution ", "left", "right", "upper", "lower", " starting ", " stopping ", " increase ", " reduction ", " opening ", " closed ", " suture ", " cutting ", " ablation ", " selection "；It is multiple Miscellaneous phrase, such as, but not limited to " left side 10% "；Complicated sentence；And their any combination.According to some preferred implementation sides Formula, voice command is at least one activation word before, such as, but not limited to " system unlatching ", with activation system (100).Each sound Regular group of at least one pre-determining is all allocated in sound order (25) in advance, so that when speech transducer (20) detect that sound is ordered When enabling, the rule group of pre-determining generates the instruction group executed by corresponding instrument.Voice activation control system (100) is for performing the operation Multiple instruments, such as, but not limited to endoscope, microscope, mechanical arm, laparoscope, operating lamp, operating table, operation are controlled in setting It is video camera, imaging device, injection device, measuring device, optical device, stereotactic apparatus, positioning device, pumping equipment, close Seal equipment, ablating device, device for excising, dissection device and their any combination.

Simple phrase can star a complex set of pre-determining order.For non-limiting example, voice command " seam Conjunction " will cause the complicated movement of at least two tweezers, wire cutting instrument and possible grasper or tractor.

According to some preferred embodiments, speech transducer (20) includes: microphone, which is configured as picking up more A voice command；And voice recognition unit, which, which executes sound to the voice command picked up by microphone, knows Other algorithm, to identify voice command and generate to by the received Management Information Base output signal of sender unit (15).Sound is known Other algorithm can be based on hidden Markov model, dynamic time warping, neural network, deep neural network and theirs is any Combination.This voice recognition unit can find and be easy to get in the prior art.When voice command is complicated sentence, Speech transducer (20), processor and their any combination further include context recognition unit, which is matched It is set to voice command of the identification from complicated sentence.According to preferred embodiment, speech transducer (20) is set or is to set (train) in the fixation position relative to surgeon's oral area, and as resulting audio signal components are adjusted to most Best performance.For surgical expression, the voice signal detected by speech transducer can be according to the speech transducer phase For surgeon's oral area position and have different compositions.For reliable speech recognition result, especially in safety In most important environment, speech transducer should be located in the fixation relative to surgeon's oral area and repeatable site.

A is continued to refer to figure 1, speech transducer (20) is operably connected to sender unit (15).In some embodiment party In formula, the connection is via wireless device (30), such as, but not limited to bluetooth equipment.According to preferred embodiment, speech transducer (20) via non-wireless means such as cable connection to sender unit (15).Sender unit (15) be configured to by it is described at least One voice command is converted to transmissible voice signal, then sends the transmissible voice signal.According to some preferred realities Apply mode, sender unit (15) is RFID, number RF, RF communication, IR transmitter, bluetooth equipment and their any group It closes.

Speech transducer (20) and sender unit (15) both with the hand by surgeon's wearing in operation setting Art mask (10) integrates.Speech transducer is positioned near surgeon's oral area.According to preferred embodiment, voice is passed Sensor (20) and sender unit (15) are both embedded in Operation mask.According to another preferred embodiment, they are reversible Ground is embedded in mask, and can be removed and be placed on on/within another Operation mask from an Operation mask.According to some realities Mode is applied, Operation mask is disposable.According to some other embodiments, Operation mask is reusable.

It continues to reference to Fig. 1 a, voice activation control system (100) further includes processor (40), and the processor is operationally It is connected to sender unit (15) and is configured to receive transmissible voice signal.Processor is in a wired or wireless fashion (35) It is connected to sender unit.Processor is configured to be converted to transmissible voice signal the rule of at least one pre-determining Group, regular group of at least one pre-determining are that eternal city generates at least one operational order group, wherein the operational order group packet At least one operational order associated with the operation of at least one instrument in multiple instruments is included, the instrument is such as, but not limited to Operating lamp (55), mechanical arm (65), surgical operation microscope (75) and their any combination.Each instrument can via with it is every A associated control device of instrument (50,60 and 70) is in response to the instruction group of at least one pre-determining, the wherein finger of pre-determining Enabling group includes at least one instruction.Each control device is operably connected to the instrument (55,65 of processor (40) and its control With 75).Control device is configured to receive the instruction group of at least one pre-determining and runs instrument correspondingly.According to preferred Embodiment, processor (40) further include the database of storage unit transmissible voice signal for storage.According to difference User preference can constantly update and the personalized database.

According to preferred embodiment, voice activation control system (100) further includes feedback mechanism, and feedback mechanism facilitates outer Direct communication between section doctor and system.According to some embodiments, feedback mechanism is configured to send audio or vision letter Number.The non-limiting example of this signal includes: that confirmation operation instruction is performed correctly, and the order of audio signal instruction sound is not Clearly received etc..The non-limiting example of audible feedback mechanism includes that earphone, headphone, headgear, neck wear part, Mike Wind and their any combination.The non-limiting example of visual feedback mechanism includes: to provide " new line " headgear of visual display, It is configured to provide the glasses of visual display, is configured to provide the goggles of visual display, display screen and theirs is any Combination.Audio or visual feedback mechanism can be attached to surgeon, could attach to the instrument in surgical environments, are integrated into system In and their any combination.

Fig. 1 b show with identical system shown in Fig. 1 a, in addition to speech transducer (20) and sender unit (15) It is integrated in the operating cap (10) by surgeon's wearing.

It is emphasized that speech transducer (20) and sender unit (15) can be attached to any wearable elements or Person is integrated in any wearable elements.The element can be selected from by following groups constituted: mask, headgear, head-wearing piece, cap, Shoe cover, gloves, hospital's robe, operation uniform, dustcoat, neck wear part, muffetee, armlet, earphone and their any combination.Attachment It can be reversible or irreversible.In some embodiments, speech transducer can reversibly or be irreversibly attached To instrument or reversibly or irreversibly it is integrated into instrument；Or they can be attached to reversibly or irreversibly and be System, or can be reversibly or irreversibly the integration section of system.Preferably, each surgeon has a voice sensing Device (20) and sender unit (15)；However, in some embodiments, at least one surgeon senses with multiple voices Device (20) and sender unit (15).In some embodiments, at least one speech transducer (20) and sender unit (15) it is configured to sense from multiple surgical voice commands.For non-limiting example, speech transducer (20) can To be configured to receive the voice command for coming from multiple surgeons (multiple surgical sensors)；Then, for multiple The voice command of the explanation of surgical sensor can be with the voice from single surgical speech transducer (20) Order is related, thus be used as to received order inspection.In another non-limiting example, multiple surgical biographies Break down if sensor may be used as spare-surgical individual voice sensor (20), can alternatively use by Multiple received orders of surgical sensor, to prevent the interruption of the workflow in operating environment.

Referring now to Figure 2, the flow diagrams illustrate use according to the preferred embodiment of the present invention it illustrates a flow chart In the whole high-level view of the method for voice activation control process.Surgeon/operator can make before voice command With activation phrase such as " system unlatching " Lai Qidong voice activated system.Speech transducer --- insertion is by surgeon/operation In the Operation mask of personnel's wearing or it is positioned in other ways near surgeon/operator --- detection is cured by surgery The voice command that life/operator (210) generates.Later, the sender unit of speech transducer is operably connected to by sound Sound order is converted into transmittable signal (transmissible voice signal) relevant to voice command, believes preferably as digital audio Number (220) (less preferably, as analoging sound signal), and central processing unit is sent by transmissible voice signal (230).Central processing unit receives transmissible voice signal and is converted into regular group of pre-determining, the rule of the pre-determining Group includes at least one rule associated at least one instrument.Rule group generation is associated at least one instrument extremely A few operational order, at least one instrument are such as operating lamp, mechanical arm, surgical operation microscope (240) or and surgical rings It border can associated any instrument that can be automatically controled.Then it is operably connected to the control device of processor and instrument correspondingly Execute the operational order (250) of pre-determining.The process can be iteration, or can prohibit automatically after completing one group of instruction With.If the process is iteration, can use terminates phrase to stop, this terminates phrase as such as, but not limited to " system Close ", as long as system can operate the process and continue.

It is also within the scope of the invention that system as described above is disclosed, wherein during program before use, system experience Voice training.During the voice training, the system will be trained by device as known in the art, to utilize system must The surgical voice of at least one that must be responded thereto and pronunciation are to recognize voice command.

Voice command, which can be, not to be defined, or may include at least one qualifier, and wherein qualifier modification is rung The component answered.For non-limiting example, the qualifier amount of can be, score of the amount in the form of fixterm or as value. For non-limiting example, order " being moved to the left " will be used.The order being defined including score, which can be, " to be moved to the left 20% ", institute's selection tool can be moved to the left the 20% of the visual field by this；After movement, the operation work at the left edge of the visual field Tool can be located at 20% of the visual field width apart from the visual field left edge.The order being defined including fixed entry value can be " being moved to the left 3cm ", this can move the operation tool of 3 centimeters on the right side of the object that the front distance of order is located at central region It moves to central region.To those skilled in the art, more examples are apparent.

In another non-limiting example, qualifier can be operation tool or instrument.For non-limiting example, life Order can be " being moved to the left tweezers ", and tweezers are moved to the left by this, or " being moved to the left endoscope ", this is by the visual field to moving to left It is dynamic.To those skilled in the art, more examples are apparent.

The order not being defined may include pre-determining qualifier, or the order not being defined can star process, should Process continues until stopping.As described above, pre-determining qualifier can be score or fixed entry value.As described above, will be order " being moved to the left " provides non-limiting example.If order is continued until stopping, selected objects will continue to be moved to the left, until Issue order such as " stopping is moved to the left ".If pre-determining qualifier is score, order " being moved to the left " will make object to Fixed amount is moved left, the 20% of the visual field is such as moved to the left.If pre-determining qualifier is fixed entry value, " Xiang Zuoyi is ordered It is dynamic " object will be made to be moved to the left fixed amount, such as it is moved to the left 3cm.To those skilled in the art, more examples are Significantly.

It should be noted that in some embodiments, voice command can reversibly select (that is, selection or cancel selection) or Instrument, operation tool, patient at least part and their any combination；Selected item can keep being selected until connecing Receiving change order or the selected item can keep being selected in predetermined time that.

In some embodiments, voice command can change pre-determining amount；Value can be changed, or the type of value can To be changed, for example, from fixed entry value to score, or from score to fixed entry value.

The order group of the pre-determining may include " non intelligent " response or " intelligence " response to voice command.Non intelligent In response, order is executed in order.For non-limiting example, in non intelligent response, order " being moved to the left " by Xiang Zuoyi Selected operation tool is moved, any dangerous or obstacle in operation tool path is ignored." amplification " order can continue straight It is pressed onto tissue to endoscope, or " diminution " order can be continued until that endoscope has returned in trochar, endoscope It is intracavitary by the trochar insertion body.

On the other hand, " intelligence " response is configured to consider at least one feature of ambient enviroment.Feature can be danger Or interference between two parts of the interference, instrument between obstacle, danger or obstacle, two operation tools, two instruments it Between interference, a possibility that damage is caused to a part of patient and their any combination.It is right for non-limiting example In movement, it may be considered that danger or obstacle in path, such as operation tool or tissue.In this case, for non- Limitative examples, order " being moved to the left 3cm " will make selected operation tool be moved to the left 3cm, but path needs not be straight line. Selected tool can be moved up to avoid second tool being located in its path, then shift to the diaphragm of patient and remote From it, to avoid the lobus dexter of liver, otherwise selected tool will be contacted.When endoscope distance is dangerous or obstacle at least One than pre-determining apart from hour, " amplification " order will terminate automatically, even if not yet completing desired scaling.When endoscope is too far When --- for non-limiting example, if a part of trochar be visible or endoscope may with enter port Unexpected contact --- even if desired zoom level does not occur still, even if desired scaling is not yet completed, " diminution " order will be certainly It is dynamic to terminate.

Order can be " non intelligent " order or " intelligence " order.Non intelligent order executes simple movement, is usually not required to Intelligent response is wanted, and intelligence orders and executes more complicated movement, it usually needs at least one intelligent response.

The example of non intelligent order is adjustment illumination.Order " opening illumination " conducting light source.Order " brighter light " will be bright Degree increases pre-determining amount.Similarly, light source can be turned off by " turning off the light ", and " darker light " can then reduce brightness.

The example intelligently ordered is voice command " suture ", it may include regular group for generating following instructions: the instruction By mobile tweezers to pierce through tissue and suture is made to pass through tissue, mobile tweezers are cut with knotting on line using cutting instruments The suture.Rule preferably includes the rule to the danger or obstacle avoiding being located in instrumentation paths.In some embodiments In, rule group generates instruction so that tweezers (and/or cutting instruments) are moved to suture site.In some embodiments, regular Group generates instruction and removes tweezers (and/or cutting instruments) from suture site after suture is completed.

More complicated intelligence order can be " close incisions " comprising following rules: the rule generation is to benefit With a series of sutures come the instruction of close incisions.

The system may include the rule and pre-determining group for example to control device, which is such as endoscope, shows Micro mirror, mechanical arm, laparoscope, operating lamp, operating table, surgical camera, imaging device, injection device, measuring device, optics are set Standby, stereotactic apparatus, positioning device, pumping equipment, water-tight equipment, ablating device, device for excising, dissection device and they Any combination.

Therefore, according to the preferred embodiment of the present invention, the present invention provides regular group of pre-determining for operation tool, should Regular group of pre-determining define " movement that is allowed to " of at least one operation tool in surgical environments be what and extremely What few " restrained movement " of the operation tool in surgical environments be.

It can be the rule of other pre-determining of other device supplies, for non-limiting example, for operating table, rule can With at least one following instruction of determination: height, the rate travel of operating table, operating table of at least one instruction adjustment operating table Inclination etc..

For illumination, rule can determine following instructions: the instruction adjusts unlatching/closed state, color, brightness etc..

For optical device, rule can determine focus, the visual field, the depth of field, static movement or video actions etc..

System can prevent restrained movement, can be provided solely for the alarm to restrained movement rather than prevent It and they any combination.

According to some embodiments, system of the invention includes the operon system that can be communicated with controller, manipulates subsystem System is configured to spatially relocate at least one operation tool according to the rule group of pre-determining during operation.

According to some embodiments, controller can provide instruction for spatially relocating hand to operon system The site of art tool.According to these instructions, the movement of operation tool being allowed to will be only executed.Restrained movement is prevented to pass through Following manner executes: detecting the site of operation tool；Handle all current rules；Analyze the movement of operation tool and if work The movement of tool is that restrained movement then prevents the movement.

According to some embodiments, system only alert doctor at least one operation tool restrained movement (rather than Prevent the restrained movement).

The restrained movement (alternatively, alternatively preventing restrained movement) of warning doctor executes in the following manner: Detect the site of operation tool；Handle all current rules；Analyze operation tool movement and inform surgeon (system User) movement of tool is allowed mobile or restrained movement.

Therefore, according to the preferred embodiment of the present invention, if preventing restrained movement, identical process is followed (the site of detection operation tool；Handle all current rules and analyze the movements of operation tool), in addition to last movement, In, if the movement of tool is restrained movement, prevent the movement.Surgeon can also be apprised of the movement and be hindered Only.

According to some embodiments, held by detecting the site of operation tool and analyzing the surgical environments of the operation tool Row is above-mentioned (warning doctor and/or prevention movement).In analysis surgical environments and after detecting the site of operation tool, system can be with Assessment institute is risky, this can be after operation tool be moved along the direction of pre-determining.Therefore, it is necessary to analyze in surgical environments Each site, so that any possible movement of operation tool will be classified as the movement being allowed to or restrained movement.

According to embodiment of the present invention, the 3d space position of each tool is determined using image processing apparatus and in real time Put the site to determine each tool.It should be understood that above-mentioned " tool " can any site on finger tool.For example, it can be with The tip of finger tool, the main body of tool and their any combination.Regular group for generating the pre-determining of instruction is configured to examine Possible important all possible factors during having considered surgical procedures.Regular group of pre-determining may include following rules or it is any Combination:

A. route rule；

B. environmental planning；

C. operator's input rule；

D. close to rule；

E. it is labeled tool rule；

F. collision prevents rule；

G. based on the rule of history；

H. the movement rule be allowed to and restrained of tool is depended on；

I. most-often used tool rule；

J. right side tool rule；

K. left side tool rule；

L. visual field rule；

M. no-fly zone rule

N. operator's input rule；

O. preferred volume area rule；

P. preferred kit rule；

Q. detected rule is moved；

R. it is labeled tool rule；

S. preferred kit rule；

T. regular change, and

U. rule is gone to

Thus, for example, collision prevents rule from defining following minimum ranges: it is lower than the minimum range, two or more Tool should not be brought together (that is, the minimum range that should be kept between two or more tools).If a tool Movement will lead to it dangerously close to another tool (that is, the distance between they are less than anticollision rule after movement The minimum range of definition), then it is restrained to move or disapprove the movement that controller, which can alert the user movement,.

It is emphasized that by being continually monitored each member of surgical environments and identification and positioning in surgical environments Part/tool 3d space site, above-mentioned all (and following discloses) can be realized.

Identification is provided by conventional equipment well known by persons skilled in the art (for example, image procossing, Optical devices etc.).

The following provide the explanations to above-mentioned each rule, and provide the function of the embodiment of rule:

According to some embodiments, route rule includes predefined route, at least one operation tool is configured in hand It is moved in art environment along the predefined route；The movement being allowed to is that at least one of them operation tool is located at predefined route Boundary in movement, and restrained movement is to be located at the boundary of predefined route in wherein at least one operation tool Except movement.Therefore, according to the embodiment, route rule include store at least one predefined route can communication data Library, at least one operation tool are configured in surgical environments move along predefined route；Predefined route includes at least N 3d space position of one operation tool in the route；N is greater than or equal to 2 integer；The movement being allowed to is at it In at least one operation tool be substantially positioned at least one space bit in n 3d space position of predefined route The movement set, and restrained movement is to be substantially different from this in the site of wherein at least one operation tool to predefine The movement of n 3d space position of route.

In other words, according to route rule, the route (and path in any surgical procedures) of each operation tool Being stored in can be in communications database.The movement being allowed to is defined as wherein at least one operation tool and is positioned substantially in The movement at least one route in the route of storage；And restrained movement is wherein at least one operation tool institute The site at place is substantially different from the movement in any site in the route of any storage.

According to some embodiments, environmental planning is configured to according to as received from endoscope or other sensing devices Danger or obstacle in surgical environments determine movement be allowed to and restrained.Therefore, according to the embodiment, environment rule Then including can communications database；This can communications database be configured to receive the realtime graphic of surgical environments, and be configured to Scan picture is executed to the realtime graphic of the surgical environments and determines the danger in surgical environments or the 3d space of obstacle Position；Environmental planning is configured to be made according to the danger or the determining movement be allowed to and restrained of obstacle in surgical environments Obtaining restrained movement is at least one space bit that wherein at least one operation tool is positioned substantially in 3d space position The movement set, and the movement being allowed to is that the site of wherein at least one operation tool is substantially different from 3d space position It is mobile.

In other words, according to environmental planning, each element in surgical environments is recognized, is dangerous or barrier so which is established Hinder (and path in any surgical procedures) and be stored in each dangerous and obstacle (and path) can communication data In library.Restrained movement be defined as wherein at least one operation tool be positioned substantially in it is identical with dangerous or obstacle The movement in site；And the movement being allowed to be the site of wherein at least one operation tool be substantially different from institute it is dangerous Or the movement of the position of obstacle.

According to other embodiments, danger or obstacle in surgical environments are selected from by following groups constituted: tissue, operation work Tool, organ, endoscope and their any combination.

According to some embodiments, operator's input rule be configured to receive the operator from system about this extremely The input of the movement being allowed to and the restrained movement of a few operation tool.Therefore, according to the embodiment, operator is defeated Enter rule include can communications database；Can communications database be configured to receive the operator from system about this at least one The input of the movement being allowed to and the restrained movement of a operation tool.

According to other embodiments, input includes n 3d space position；N is greater than or equal to 2 integer；Wherein the n At least one spatial position in 3d space position is defined as in the point being allowed to and the n 3d space position at least One spatial position is defined as restrained site, so that the movement being allowed to is that wherein at least one operation tool is basic On be positioned at least one spatial displacement in the spatial position that n 3D is allowed to, and restrained movement is wherein The site of at least one operation tool is substantially different from the spatial displacement that n 3D is allowed to.

According to other embodiments, input includes at least one rule, can determine this extremely according at least one rule The movement being allowed to and restrained movement of a few operation tool so that the spatial position of at least one operation tool by Controller is controlled according to movement be allowed to and restrained.

According to other embodiments, the movement that operator's input rule can will be allowed be converted into restrained movement and Restrained movement is converted into the movement being allowed to.

According to some embodiments, it is configured to define at least one operation tool and at least one other close to rule Pre-determining distance between operation tool；The movement being allowed to be wherein operation tool pre-determining distance within the scope of or it Outer movement and restrained movement be wherein operation tool be located at except the range of pre-determining distance or within the scope of shifting It is dynamic；The movement being allowed to and restrained movement can be defined according to different ranges.Therefore, it according to the embodiment, connects Nearly rule is configured to define the pre-determining distance between at least two operation tools.In a preferred embodiment, it is allowed to Movement be wherein operation tool pre-determining distance within the scope of movement；And restrained movement is wherein operation tool Movement except the range of pre-determining distance.In another preferred embodiment, the movement being allowed to is work of wherein performing the operation Have a movement except the range of pre-determining distance, and restrained movement be wherein operation tool in the range of pre-determining distance Within movement.

It should be noted that above-mentioned distance can be from following middle selections:

(a) the distance between the tip at the tip of the first tool and the second tool；

(b) the distance between the tip of the main body of the first tool and the second tool；

(c) the distance between the main body of the main body of the first tool and the second tool；

(d) the distance between the main body at the tip of the first tool and the second tool；

And their any combination.

According to some embodiments, it is configured to define the pre-determining angle between at least two operation tools close to rule Degree；The movement being allowed to be wherein operation tool within the scope of pre-determining angle or except movement；And it is restrained Movement be wherein operation tool except the range of pre-determining angle or within the scope of movement.

According to some embodiments, anticollision rule is configured to define at least one operation tool and is located at surgical environments Pre-determining distance between interior anatomy element (for example, tissue, organ, other operation tools or their any combination)； The movement being allowed to is wherein movement of the operation tool in the range for being greater than the pre-determining distance, and restrained movement is Wherein movement of the operation tool in the range for being less than pre-determining distance.

According to some embodiments, anatomy element is selected from by following groups constituted: tissue, organ, other operation tools Or their any combination.

According to some embodiments, operation tool is endoscope.Endoscope is configured to provide at least the one of surgical environments A realtime graphic.

According to some embodiments, right side tool rule is configured to according to the hand for being located at specific position relative to endoscope The movement of art tool determines the movement being allowed to of endoscope, which is preferably positioned as the right side of endoscope.Root According to the rule, endoscope is constantly tracked the tool for being defined as right side tool.According to some embodiments, right side tool is determined Justice is at the tool being located on the right side of endoscope；According to other embodiments, any tool can be defined as right side tool.Root According to right side tool rule, the movement being allowed to be wherein endoscopic visual be moved to it is substantially the same with the site of right side tool Site, to track the movement of the right side tool.According to right side tool rule, restrained movement is wherein endoscopic visual shifting Move the movement in the site substantially different with the site of right side tool.

According to some embodiments, left side tool rule is configured to according to the hand for being located at specific position relative to endoscope The movement of art tool determines the movement being allowed to of endoscope, which is preferably positioned as the left side of endoscope.Root According to the rule, endoscope is constantly tracked the tool for being defined as left side tool.According to some embodiments, left side tool is determined Justice is at the tool being located on the left of endoscope；According to other embodiments, any tool can be defined as left side tool.Root According to left side tool rule, the movement being allowed to be wherein endoscopic visual be moved to it is substantially the same with the site of left side tool The movement in site.According to left side tool rule, restrained movement is that wherein endoscopic visual is moved to the position with left side tool The movement in the substantially different site of point.

According to some embodiments, visual field rule is configured to define the visual field and maintains the visual field.Visual field rule is defined, is made If obtaining the tool group that endoscope is configured to track the pre-determining being located in the desired visual field, one in these tools When a tool is no longer in the visual field, which indicates that endoscope reduces so that the tool to be reintroduced back in the visual field.Therefore, root According to the embodiment, visual field rule include there is n 3d space position can communications database；N be greater than or equal to 2 it is whole Number；The combination of all n 3d spaces position provides the pre-determining visual field；It is empty in n 3D that visual field rule is configured to determine endoscope Between the movement being allowed in position, so as to the visual field kept constant, so that the movement being allowed to is that wherein endoscope is substantially At least one spatial displacement being located in n 3d space position, and restrained movement is wherein endoscope Site is substantially different from the movement of n 3d space position.

Therefore, according to some embodiments of visual field rule, visual field rule includes having communicating for n 3d space position Database；N is greater than or equal to 2 integer；The combination of all n 3d spaces position provides the pre-determining visual field.Visual field rule is also Including m tool and its 3d space site can communications database, wherein m is greater than or equal to 1 integer, and wherein tool It can be operation tool, anatomy element and their any combination.The combination of all n 3d spaces position provides pre-determining The visual field.Visual field rule is configured to determine the movement of endoscope being allowed to, so that m 3d space position of tool includes the visual field N 3d space position at least one spatial position, and restrained movement be wherein at least one tool 3D it is empty Between position be substantially different from the visual field n 3d space position movement.

According to some embodiments, preferred volume area rule include there is n 3d space position can communications database；n It is greater than or equal to 2 integer；N 3d space position provides preferred volume area；Preferred volume area rule is configured to determine In the movement of the operation tool in n 3d space position being allowed to and the quilt of the operation tool outside n 3d space position The movement of constraint so that the movement being allowed to be wherein operation tool be positioned substantially in n 3d space position at least one A spatial displacement, and restrained movement is that the site of wherein operation tool is substantially different from n 3d space position The movement set.In other words, it is preferable that volume area rule defines interested volume (desired interested volume), so that according to Preferred volume area rule, the movement being allowed to is that at least part of wherein operation tool is moved in the preferred volume of definition Site movement.According to preferred volume area rule, restrained movement is that wherein all operation tools are all moved to and are defining Preferred volume except site movement.

According to some embodiments, preferred kit rule include can communications database, the database purchase preferred kit；It is excellent Selection tool rule is configured to determine the movement of endoscope being allowed to according to the movement of preferred kit.In other words, it is preferable that Tool rule defines the preferred kit (that is, interested tool) that system user wishes tracking.According to preferred kit rule, quilt The movement of permission is the movement that wherein endoscope is moved to the site substantially the same with the site of preferred kit.Restrained shifting Dynamic is the movement that wherein endoscope is moved to the site substantially different with the site of preferred kit.Therefore, according to preferred kit Rule, endoscope are constantly tracked preferred kit, so that as the visual field seen from endoscope is preferred kit always.It should infuse Meaning, user can define the tip for being constantly tracked the preferred kit in preferred kit rule, or alternatively, user Any site in the main body or preferred kit for being constantly tracked preferred kit can be defined in the preferred kit rule.

According to some embodiments, no-fly zone rule is configured to define restrained area, does not have in the restrained area There is tool (or alternatively without predefined tool) to be admitted into.Therefore, according to the embodiment, no-fly zone rule packet Include with n 3d space position can communications database；N is greater than or equal to 2 integer；N 3d space position definition is located at Pre-determining volume in surgical environments；No-fly zone rule is configured to determine if mobile be located within no-fly zone restrained The mobile and determining movement being allowed to if mobile be located at except no-fly zone, so that restrained movement is wherein at least one A operation tool is substantially positioned at least one spatial displacement in n 3d space position, and be allowed to Movement is the movement that the site of wherein at least one operation tool is substantially different from n 3d space position.

According to some embodiments, most-often used tool rule is configured to define (in real time, during program or in journey Before sequence) which tool is most-often used tool (that is, mobile most tool during program) and indicates operon system not An endoscope is concluded to track the movement of the tool.Therefore, according to the embodiment, most-often used tool rule includes that can communicate Database, this can communications database the mobile number of each operation tool is counted；Most-often used tool rule is configured The movement of the operation tool with maximum mobile number is tracked at constantly positioning endoscope.In most-often used tool rule In some embodiments, can communications database measure the amount of movement of each operation tool；Most-often used tool rule is configured to Position endoscope constantly to track the movement of the operation tool with maximum amount of movement.

According to some embodiments, system is configured to alert the restrained movement of at least one operation tool of doctor. Alarm can be audio signal, voice signal, optical signal, flash signal and their any combination.

According to some embodiments, the movement being allowed to is by a kind of movement of controller allowance, and restrained shifting Dynamic is a kind of movement refused by controller.

According to some embodiments, operator's input rule be configured to receive from system operator about this at least The input of the movement being allowed to and the restrained movement of one operation tool.In other words, operator's input rule, which receives, comes From doctor about following instructions: what can be considered as the movement being allowed to and what can be considered as restrained movement.According to Some embodiments, the movement that operator's input rule is configured to will be allowed are converted to restrained movement and will be restrained Movement be converted into the movement being allowed to.

According to some embodiments, the rule based on history is configured to according at least one operation tool at least History in one previous operation is mobile to determine the movement being allowed to and restrained movement.Therefore, according to the embodiment party Formula, the rule based on history include can communications database, should based on the rule of history can communications database store each operation Each 3d space position of tool, so that each movement of each operation tool is stored；Rule based on history is configured The movement and restrained movement being allowed to are determined at according to the history of at least one operation tool is mobile, so that be allowed to Movement is that wherein at least one operation tool is positioned substantially at least one spatial displacement in 3d space position, And restrained movement is the shifting that the site of wherein at least one operation tool is substantially different from n 3d space position It is dynamic.

According to some embodiments, the sum of tool (tool-dependent, tool are related) being allowed to is depended on by about The movement rule of beam is configured to according to the determining movement and restrained movement being allowed to of the pre-determining characteristic of operation tool, The pre-determining characteristic of middle operation tool be selected from by following groups constituted: physical size, structure, weight, sharpness and they Any combination.Therefore, according to the embodiment, the movement rule be allowed to and restrained depending on tool includes that can communicate Database；This can communications database be configured to store the pre-determining characteristic of at least one operation tool；Quilt depending on tool Allow and restrained movement rule be configured to be determined according to the pre-determining characteristic of operation tool the movement being allowed to and by The movement of constraint.

According to some embodiments, the pre-determining characteristic of operation tool can be selected from by following groups constituted: physical size, Structure, weight, sharpness and their any combination.

According to these embodiments, user can define for example he wish endoscope tracking operation tool structure.Cause This, according to the movement rule be allowed to and restrained for the tool of depending on, endoscope is constantly tracked to have and be defined by the user The pre-determining characteristic operation tool.

According to certain embodiments of the present invention, mobile detected rule include can communications database, this this can communication data Library includes the real-time 3d space position of each operation tool；The mobile detected rule is configured to detect at least one operation work The movement of tool.When receiving the variation of 3d space position of the operation tool, the movement being allowed to is that wherein endoscope is weighed Orient the movement to focus on mobile operation tool.

According to some embodiments, rate changes rule and is configured to based on changing automatically with a distance from the pre-determining site from object Become the rate in the pre-determining site on operation tool, which can be tool, obstacle or interested object.In general, changing Rate makes the pre-determining site on operation tool closer to object, and operation tool is mobile slowlyer.It should be noted that pre-determining Site can be the funtion part of operation tool, such as, but not limited to site on the blade of cutter or the position on the face of grasper Point.

According to certain embodiments of the present invention, it goes to rule and the object of pre-determining is moved to pre-determining site.For example, Endoscope can be redirected to focus at least one pre-determining site；Labeled tool can be redirected will be marked At least part of tool of recording workpoints is positioned at least one pre-determining site；Labeled tool can be relocated, so that by marking At least part of tool of recording workpoints is in pre-determining site and their any combination relative to the site of pre-determining.It is marked At least part non-limiting example that is located at pre-determining position relative to the site of pre-determining of tool of recording workpoints is: by grasper Blade positioning is in the either side in the site of pre-determining.

According to some embodiments, at least one site estimator is at least one endoscope, at least one endoscope It is configured to obtain at least one realtime graphic for being located at the intracorporal surgical environments of people for estimating at least one operation tool Site；And at least one operation instrument space site software, at least one the operation instrument space site software are configured At at least one realtime graphic for receiving surgical environments and estimate the 3d space position of at least one operation tool.

According to some embodiments, site estimator includes selected from by at least one of following groups constituted: optical imagery Device, radio frequency transmission and receiving device, at least one label and their any group at least one operation tool It closes.

According to some embodiments, which is between surgeon and at least one operation tool Interface (interface, docking) subsystem, which includes: that (a) includes N number of regular light source or N number of pattern light source At least one array, wherein N is positive integer；(b) include M video camera at least one array, wherein M is positive integer； (c) optional optical markings object and the device for optical markings object to be attached to at least one operation tool；And (d) via The computerized Algorithm of controller operation, computerized Algorithm are configured to record and each take the photograph as in each of M video camera The received image of camera and the position for therefrom calculating each tool, and be further configured to automatically be supplied to calculated result and connect The operator of mouth.

System may include " intelligence " tracing subsystem, is somebody's turn to do " intelligence " tracing subsystem and receives from manipulation function f (t) (t The time) instruction, which is to be directed to where also, instruction instruction operon system for endoscope about by endoscope It is repositioned onto desired zone.

Input, output of function f (t) reception such as from least two instruction functions gi (t) are manipulated, the defeated of them is analyzed There is provided instruction out and to " intelligence " tracking system (it finally redirects endoscope).

According to some implementation methods, each instruction functions gi (t) is also endowed weighting function α i (t).

Instruction functions gi (t) of the invention is following functions: the function is configured to assess the environment of endoscope and operation, And the data of guidance tracing subsystem are exported with the spatial position for controlling operon system and endoscope.Instruction functions gi It (t) can be selected from by following groups constituted:

A. tool detection function g1 (t)；

B. detection function g2 (t) is moved；

C. organ detection function g3 (t)；

D. collision detection function g4 (t)；

E. operator input function g5 (t)；

F. anticipation function g6 (t)；

G. pass by the analytic function g7 (t) of statistics；

H. most-often used tool function g8 (t)；

I. right side tool function g9 (t)；

J. left side tool function g10 (t)；

K. visual field function g11 (t)；

L. preferred volume area function g12 (t)；

M. no-fly zone function g13 (t)；

N. close to function g14 (t)；

O. it is labeled the function g15 (t) of tool；

P. preferred kit function g16 (t)；

Q. rate changes function g17 (t)；And

R. function g18 (t) is gone to.

Thus, for example, manipulation function f (t) receives the input from two instruction functions: collision detection function g4 (t) (should Function provides the information whether the distance between two elements are less than pre-determining distance) and from most-often used tool function g8 (t) (function number mobile to tool each during surgical procedures counts, and offer at most or most often makes about mobile The information currently whether moved with tool).It is that operation tool is being endangered according to the output that collision detection function g4 (t) is provided Organ of the strategical vantage point in surgical environments.It is the work most in movement according to the output that most-often used tool function g8 (t) provides The tool that tool is currently just statistically recognizing when moving.

Then, manipulation function f (t) is that each instruction functions distribute weighting function α i (t).For example, most-often used tool letter The weight of number g8 (t) distribution is greater than the weight for distributing to collision detection function g4 (t).

The weighting function α i from the received information of instruction functions gi (t) and each instruction functions is analyzed in manipulation function f (t) (t) after, which redirects endoscope to operon system output order and (concentrates on mobile tool or concentrate on Dangerously close to the tool of organ).

It is emphasized that by be continually monitored and positioning/identification surgical environments in each element/tool 3d space Site can be realized above-mentioned all (and following disclosures).

According to some embodiments, tracing subsystem of performing the operation includes:

A. at least one endoscope, at least one endoscope are configured to obtain the reality for being located at the intracorporal surgical environments of people When image；

B. operon system, the operon system are configured to control the space bit of endoscope during laparoscopic surgery It sets；And

C. the tracing subsystem communicated with operon system, the tracing subsystem are configured to control operon system, with Just guide and modify spatial position of the endoscope about interested region.

According to the embodiment, tracing subsystem includes data processor.Data processor is configured to execute surgical rings The scan picture in border and indicate that operon system modifies endoscope according to from the received input of manipulation function f (t) Spatial position；Manipulation function f (t) is configured to (a) and receives the input for coming from least two instruction functions gi (t), wherein i is 1 ..., n, and n >=2, also, wherein t is the time；I and n is integer；And (b) based on from least two instruction functions The input of gi (t) is to operon system output order, so that endoscope spatially to be navigated to interested region.

According to a kind of embodiment, tool detection function gi (t) is configured to detect the tool in surgical environments.According to this Embodiment, tool detection function be configured to detect the operation tool in surgical environments and to tracing subsystem output order with Endoscope is directed to the operation tool detected by instruction operon system.

According to some embodiments, function gi (t) can be according to rank (for example, from 1 to 10) in surgical environments Different detection zones be ranked up, wherein forbidden region (that is, to be defined as at least one operation tool tight in the region Prohibit the region entered) lowest fractional (for example, 1) is received, and favored area is (that is, the region is defined as at least one operation work The region that at least part of tool should remain at) receive highest score (for example, 10).

According to preferred embodiment, a function g1 (t) is configured to detect at least one tool in surgical environments, And be located at favored area if I or in forbidden region if inform manipulation function f (t).

According to some embodiments, mobile detection function g2 (t) include can communications database, this can communications database include The real-time 3d space position of each operation tool in surgical environments；To detected when receiving the variation of 3d space position to The device of the movement of a few operation tool；And to indicate that operon system is peeped interior to tracing subsystem output order Mirror is directed to the device of mobile operation tool.

According to some embodiments, organ detection function g3 (t) is configured to detect the biorgan in surgical environments simultaneously The organ classes that will test are forbidden region or favored area.For example, if operator indicates that system is specifically performed the operation It is kidney surgery, then organ detection function g3 (t) classifies kidney (or kidney, if performed the operation specific on single kidney) It is forbidden region for favored area and by other organ classes.According to some embodiments, organ detection function is matched Be set to detection surgical environments in organ and to tracing subsystem output order to indicate that endoscope is directed to by operon system The organ detected.According to some embodiments, right side tool function is configured to detect the operation being positioned on the right side of endoscope Tool and to tracing subsystem output order with indicate steerable system constantly by endoscope be directed to right side tool on and track The right side tool.

According to some embodiments, left side tool function is configured to detect the operation tool being located on the left of endoscope simultaneously To tracing subsystem output order with indicate steerable system constantly by endoscope be directed to left side tool on and track the left side Tool.

According to some embodiments, collision detection function g4 (t) is configured to detect the forbidden area in surgical environments Domain, to prevent the collision between endoscope and forbidden region.For example, if endoscope is positioned at following narrow regions In: preferably accurate mobile in the narrow zone, then collision detection function g4 (t) will test and classify different zones (for example, nerve, vein, organ walls) are used as forbidden region.Therefore, according to the embodiment, anticollision function is configured At the pre-determining distance between definition at least one operation tool and the anatomy element in surgical environments；And matched If being set to the distance between at least one operation tool and anatomy element less than pre-determining distance, to tracing subsystem Output order is directed to the anatomy element in operation tool and surgical environments to indicate operon system for endoscope.According to this Invention an embodiment, anatomy element be selected from by following groups constituted: tissue, organ, other operation tools and it Any combination.

According to some embodiments, operator input function g5 (t) is configured to receive the input from operator.This is defeated Entering can be for example: about the input in region forbidden in surgical environments, about the defeated of the region being allowed in surgical environments Enter, or about the input and their any combination in interested region.Operator input function g5 (t) can be in operation The instruction from operator is received between preceding or average of operation periods, and is responded accordingly.According to some embodiments, operator's input Function can also include selection algorithm, for select to be selected from by the region of following groups constituted: forbidden region is allowed to Region, interested region and their any combination.The choosing can be executed via input equipment (for example, touch screen) It selects.

According to some embodiments, operator input function g5 (t) includes can communications database；This can communications database quilt It is configured to receive the input of the operator from system；The input includes n 3d space position；N be greater than or equal to 2 it is whole Number；And be configured to tracing subsystem output order with indicate operon system by endoscope be directed to institute it is received at least One 3d space position.

According to some embodiments, anticipation function g6 (t) is configured to provide about surgical environments in time t_f>t₀When Data, wherein t₀It is current time and t_fIt is future time.Anticipation function g6 (t) can be with storage about surgical environments (example Such as, the organ in environment) data database communication.The data can be predicted function g6 (t) for during predicted operation Expected or unexpected event or expected or unexpected object.Therefore, according to the embodiment, anticipation function g6 (t) Including can communications database, this can communications database storage be located at surgical environments in each operation tool each 3d space position It sets, so that each movement of each operation tool is stored；Anticipation function be configured to (a) predict each operation tool (or Each object) the following 3d space position；And (b) to tracing subsystem output order to indicate that operon system is peeped interior Mirror is directed to the 3d space position in the future.

According to some embodiments, past statistical analysis function g7 (t) is configured to based on storage in the database Past statistical data provides the data about surgical environments or laparoscopic surgery.Data about surgical environments can be example Such as: the data about forbidden region, the data about the region being allowed to, about the data in interested region and it Any combination.Therefore, according to these embodiments, past statistical analysis function g7 (t) include can communications database, should Can communications database storage be located at surgical environments in each operation tool each 3d space position so that each operation tool Each movement stored；It is empty that past statistical analysis function g7 (t) is configured to (a) 3D past to each operation tool Between position execute statistical analysis；(b) following 3d space position of each operation tool is predicted；And (c) to tracing subsystem Output order is directed to the 3d space position in the future to indicate operon system for endoscope.Therefore, according to past statistics Analytic function g7 (t) analyzes the past movement of each tool, and according to the analysis, provides next moved further to tool Prediction.

According to some embodiments, most-often used tool function g8 (t) include can communications database, this can communications database The amount of movement for each operation tool being located in surgical environments is counted；Most-often used tool function g8 (t) is configured to To tracing subsystem output order to indicate that operon system guides endoscope constantly to position endoscope to track movement most The movement of more operation tools.The amount of movement of tool can be defined as the tool total mobile number or the tool it is mobile always away from From.

According to some embodiments, right side tool function g9 (t), which is configured to detect, is located relative to the specific of endoscope At least one operation tool of position, at least one operation tool are preferably positioned as the right side of endoscope；And it is configured to Tool and the right side is tracked to tracing subsystem output order to indicate that endoscope is constantly directed to right side by operon system Tool.According to preferred embodiment, right side instrument definition is at the tool being located on the right side of endoscope；According to other embodiments, Any tool can be defined as right side tool.

According to some embodiments, left side tool function g10 (t), which is configured to detect, is located relative to the specific of endoscope At least one operation tool of position, at least one operation tool are preferably positioned as the left side of endoscope；And it is configured Tool and the left side is tracked to tracing subsystem output order to indicate that endoscope is constantly directed to left side by operon system Side tool.According to preferred embodiment, left side instrument definition is at the tool being located on the left of endoscope；According to other embodiment party Formula, any tool can be defined as left side tool.

According to some embodiments, visual field function g11 (t) include there is n 3d space position can communications database；n It is greater than or equal to 2 integer；The combination of all n 3d spaces position provides the pre-determining visual field；Visual field function g11 (t) is matched It is set to be directed to tracing subsystem output order to indicate operon system for endoscope and is located substantially on n 3d space position At least one interior 3d space position, so as to the visual field kept constant.

According to some embodiments, preferred volume area function g12 (t) include there is n 3d space position communicate number According to library；N is greater than or equal to 2 integer；N 3d space position provides preferred volume area；Preferred volume area function g12 (t) It is configured to be located substantially on preferred volume to tracing subsystem output order to indicate that endoscope is directed to by operon system At least one 3d space position in area.

According to some embodiments, no-fly zone function g13 (t) include there is n 3d space position can communications database； N is greater than or equal to 2 integer；N 3d space position defines the pre-determining volume in surgical environments；No-fly zone function G13 (t) is configured to tracing subsystem output order to indicate that endoscope is directed to and all n 3D skies by operon system Between substantially different at least one the 3d space position in position.

According to some embodiments, it is configured to define close to function gl4 (t) pre- true between at least two operation tools Set a distance；If also, being configured to the distance between two operation tools less than pre-determining distance or if two operations The distance between tool is greater than pre-determining distance, then to tracing subsystem output order to indicate that operon system refers to endoscope Lead to two operation tools.

According to some embodiments, it is configured to define close to function gl4 (t) pre- true between at least two operation tools Determine angle；If also, the angle being configured between two operation tools is less than pre-determining angle or if two operations Angle between tool is greater than pre-determining angle, then to tracing subsystem output order to indicate that operon system refers to endoscope Lead to two operation tools.

According to some embodiments, being labeled tool function gl5 (t) includes device, which, which is configured to mark, is located at At least one operation tool in surgical environments and to tracing subsystem output order with indicate operon system constantly will in Sight glass is directed to labeled operation tool.Therefore, according to labeled tool function, endoscope is constantly tracked preferred (i.e. quilt Label) tool, so that the visual field seen from endoscope remains on described preferred (labeled) tool.It should infuse Meaning, user can be defined in the labeled tool function to be constantly tracked (tack) described preferred (labeled) work The tip of tool, or alternatively, user can be defined in the labeled tool function to be constantly tracked preferred (quilt Label) main body on tool or any site.

According to some embodiments, which is configured to constantly mark at least one operation in surgical environments Tool.

According to some embodiments, which further includes device, which is configured to re-flag at least one operation Tool is until choose desired tool.

According to some embodiments, which further includes the device for being configured to switch operation tool.According to some implementations Mode, the switching manually or automatically execute.

According to some embodiments, preferred kit function g16 (t) includes can communications database.The preferred work of database purchase Tool；And preferred kit function is configured to tracing subsystem output order to indicate that endoscope is directed to by operon system Preferred kit, so that the endoscope is constantly tracked the preferred kit.

Therefore, according to preferred kit function, endoscope is constantly tracked preferred kit, so that the visual field seen from endoscope It remains on the preferred kit.It should be noted that user can be defined in the preferred kit function with constantly with The tip of track (tack) described preferred kit, or alternatively, user can define in the preferred kit function with not The main body on preferred kit or any site are tracked disconnectedly.

According to some embodiments, rate change function gl7 (t) includes can communications database.The database includes n 3D Spatial position；N is greater than or equal to 2 integer；N 3d space position defines the pre-determining volume in surgical environments；Speed Rate change function be configured to determine based on the distance between at least one site on pre-determining volume and operation tool to The rate of a few operation tool.For any given time t, system determines at least two distances: first distance X, this first Distance is from the site of at least one pre-determining on operation tool to the position of at least one pre-determining associated with surgical environments Point；And second distance Y, the second distance is from the site of the second pre-determining of at least one on operation tool to n 3d space At least one spatial position in position.The site of two pre-determining on operation tool can be identical site.Operation work The site of pre-determining on tool may is that the tip of operation tool；Close to the tip of operation tool；Function digit on operation tool Point, the site on the blade of such as cutter or the site on the movable surface of grasper；Or in the main body of operation tool.Hand The site of pre-determining in art environment can be except pre-determining volume can associated any site with operation tool.In general, The site of pre-determining is that operation tool enters the inlet point of surgical environments or the pivoting point of operation tool.

For any given time t, according to the mobile speed of following calculating operation tools

V_{It is actual}=f (X, Y) * V_{Pre-determining}

Wherein, V_{Pre-determining}It is the speed of pre-determining and f (X, Y) is the function of distance X and Y.Preferably, function f is selected The rate that (X, Y) makes operation tool close reduces with operation tool close to pre-determining volume.

According to certain embodiments of the present invention, speed (rate and direction) is used as 3D distance X_3DAnd Y_3DFunction variation.

According to some embodiments, go to function gl8 (t) include can communications database；Can communications database be configured to Receive the input including n 3d space position；N is greater than or equal to 1 integer, so that the movement being allowed to is wherein endoscope It is redirected with the movement at least one spatial position for focusing in n 3d space position；Tool is wherein labeled to be weighed Orientation, at least part of labeled tool is located at least one spatial position in n 3d space position Movement；It is either wherein labeled tool to be redirected, at least part of labeled tool is positionable relative to n The movement of the pre-determining position of at least one spatial position in 3d space position.

According to certain embodiments of the present invention, at least one weighting function α i (t) is time change function, and value is by grasping Author is determining or is determined by the output of associated instruction functions gi (t).Preferably, each weighting function can be time change Function.For example, if specific function gi (t) detects critical event or object, its adjustable weighting function α i (t), with Just improve following chances: manipulation function f (t) will indicate operon system, so that endoscope is moved towards the critical event or object It is dynamic.

Embodiment

Embodiment is provided to prove claimed embodiment in the present invention.This is described for the embodiment of clinical test The mode and process of invention, and elaborate the optimal mode for carrying out the present invention that inventor imagines, but should not be construed as limiting The system present invention.

In the following embodiments, similar appended drawing reference indicates similar part in all the appended drawings.

Embodiment 1- has the tracking system for the system that avoids collision

A kind of embodiment of rule-based system will include following order groups in this way:

It detects (being indicated by Gd):

Gdl tool site primer function

Gd2 organ (such as liver) detection function

Gd3 mobile (vector) is calculated and estimation function

Gd4 collision probability detection function

Facility instruction (is expressed as Gt):

Gt1 is mobile according to manual command

Gt2 stops movement

The manual movement that scene-is ordered by surgeon:

Site Gd1 (t) and Gd2 (t) are calculated in real time in each time step (according to image or site mark).

Tool mobile vector Gd3 (t) is calculated as between current site and at least one previous site according to Gd1 (t) Difference (may also consider previous mobile vector).

It calculates collision probability-Gd4 (t), such as (apart from smaller, is leaned on according to the difference between site Gd1 and site Gd2 Closer, collision probability is higher), according to the mobile vector Gd3 (t) etc. of instruction collision.

Facility instruction Gt1 weighting function α₁It (t)=1 is otherwise 0, if Gt1 (t) < pre-determining threshold value

Facility instruction Gt2 weighting function α₂It (t)=1 is otherwise 0, if Gt2 (t) > pre-determining threshold value

Facility instruction=α₁(t)*Gt1+α₂(t)*Gt2(t)；

With reference to Fig. 3, which shows tracking system in a non-limiting manner and avoids collision the embodiment of system.System Trace tool (310) and liver (320), so that determination is being between tool (310) and liver (320) in next time step No possible collision.How the behavior that Fig. 3 a and Fig. 3 b show system depends on the distance between tool (310) and liver (320) (330), and how movement that Fig. 3 c and Fig. 3 d show tool (310) influences the behavior.In fig. 3 a, tool (310) and liver The distance between dirty (320) (330) are sufficiently large, so that can not collide in the time step.Due to that can not collide, Command tools are not mobile.In fig 3b, the distance between tool (310) and liver (320) (330) are small enough to possible collision. In the embodiment shown, movement (340) has been ordered so that tool (310) is mobile far from liver (320).In other embodiment party In formula, system prevents mobile 350, but does not order mobile (340)；In this embodiment, tool (310) will remain close to Liver (320).In other embodiments, system warning operator/to operator's movement of signaling be restrained, but not It constrains the movement 350 or orders the movement (340) far from liver.Using any method as known in the art, this warning/hair Signal can be vision or the sense of hearing.

Fig. 3 c and Fig. 3 d schematically show influence of the movement of tool (310) to the system that avoids collision.In Fig. 3 c and In Fig. 3 d, tool (310) sufficiently closes to liver (320), so that between the two may collision.If system only keeps track tool (310) and the position of liver (320), then tool (310) will be ordered out far from the movement of liver (320).Fig. 3 c, which is shown, to be increased Processing has the influence of the movement 350 of the distance between (310) and liver (320).Since movement 350 is separate liver (320), Therefore collision is impossible in the time step, and does not have to the movement of command tools (310).

In Fig. 3 d, tool (310) is identical at a distance from Fig. 3 c at a distance from liver (320).However, in Fig. 3 d, The movement 350 of tool (310) is directed towards liver (320), so that may collision between tool (310) and liver (320).One In a little embodiments, then mobile (340) are ordered to keep tool (310) mobile far from liver (320).In other embodiments, System prevents mobile 350, but does not order mobile (340)；In this embodiment, tool (310) will remain close to liver (320).In other embodiments, system warning operator's movement is restrained, but not constrains mobile 350 or order Movement (340) far from liver.Using any method as known in the art, this warning can be vision or the sense of hearing.

As non-limiting embodiment, in the operation to liver, collision detection function can warn operator's tool and It may be collided between liver, but not prevent the collision.In the operation to gall-bladder, collision detection function can be by preventing to move It moves or prevents the collision between tool and liver by ordering tool redirection is the movement far from liver.

There is embodiment 2- the tracking system-of soft control to fast move when nearby without anything, when certain things It is slowly moved when close

A kind of embodiment of rule-based system in this way includes following order groups:

It detects (being indicated with Gd):

Mother-tool site primer function (being indicated with GdM)；

Gd- tool 1-K- tool site primer function；

Gd- organ 2-L- organ (such as liver) detection function；

Gd3 mother-tool mobile (vector) calculates and estimation function；

Gd4 is close to probability detection function；

Facility instruction (is expressed as Gt):

Gt1 is according to the mobile vector (direction and rate) of manual command

The surgical manual movement directive of scene-:

Site GdM (t) is calculated in real time in each time step (according to image or site mark), Gd- tool 1-K (t) With Gd- organ 2-L (t).

Mother-tool mobile vector Gd3 (1) is calculated as between current site and at least one previous site according to GdM (t) Difference (previous mobile vector may be also considered)

The degree of approach Gd4 (t) for calculating mother-tool and other tools, for example, being calculated as mother-tool site and other works Has the lowest difference between site.

Facility instruction Gtl weighting function α₁(t) proportional close to function Gd4 (t) to tool, tool is got over closer to movement Slowly, such as

α₂(t)=Gd4/ maximum value (Gd4)

Or

α₂(t)=log (Gd4/ maximum value (Gd4)), wherein maximum value (Gd4) is giving set a distance, vehicle speeds and movement It may cause the maximum distance of collision in the case where vector.

Facility instruction=α₁(t)*Gt1。

Embodiment 3- has the tracking system of no-fly rule/function

With reference to Fig. 4, which shows the embodiment of the tracking system with no-fly rule in a non-limiting manner.System The tool (310) relative to no-fly zone (460) is tracked, to determine whether tool will enter no-fly zone in next time step (460).In this embodiment, no-fly zone 460 surrounds liver.

How the behavior that Fig. 4 a and Fig. 4 b show system depends on site of the tool tip relative to no-fly zone, and Fig. 4 c How the behavior is influenced with Fig. 4 d movement for showing tool.

In fig.4, tool (310) is located at no-fly zone rule/function 460 outside, and mobile without command tools. In fig. 4b, tool (310) is located in no-fly zone 460.

No-fly zone rule/function executes as follows:

In the embodiment shown, movement 350 has been ordered so that tool (310) is mobile far from no-fly zone 460.At other In embodiment, system prevents to travel further into the movement (c referring to fig. 4 referred to as moves (340)) of no-fly zone, but does not order Mobile (340)；In this embodiment, tool (310) will remain close to no-fly zone 460.

In other embodiments, system warning operator/to operator's movement of signaling be restrained, but not about Beam travels further into the movement of no-fly zone or orders the movement (340) far from no-fly zone 460.Using as known in the art any Method, this warning/signalling can be vision or the sense of hearing.

Fig. 4 c and Fig. 4 d schematically show influence of the movement of tool to the operation of no-fly zone rule/function.Scheming In 4c and Fig. 4 d, tool (310) sufficiently closes to no-fly zone 460 (distance (330) is sufficiently small), allows tool when next Enter no-fly zone during intermediate step.Fig. 4 c is shown the movement 340 of the distance between increase tool (310) and no-fly zone 460 Influence.Since mobile 340 be separate no-fly zone 460, it can not collide in the time step and not order The movement of tool (310).

In figure 4d, tool (310) is identical at a distance from Fig. 4 c at a distance from no-fly zone 460.However, in figure 4d, The movement 340 of tool is directed towards no-fly zone 460, so that tool (310) is possibly into no-fly zone 460.The embodiment party shown in In formula, order mobile 350 is mobile to make tool (310) separate no-fly zone 460.In other embodiments, system prevents movement 340, but mobile 350 are not ordered；In this embodiment, tool (310) will remain close to no-fly zone 460.In another implementation In mode, system warning/to operator's movement of signaling be restrained, but do not constrain mobile 340 or order far from no-fly The movement 350 of area's rule/function 460.Using any method as known in the art, this warning/signalling can be vision Or the sense of hearing.

Embodiment 4- has preferred volume area rule/function tracking system

With reference to Fig. 5, which shows the reality with preferred volume area function/rule tracking system in a non-limiting manner Apply mode.

System tracks the tool (310) relative to preferred volume area (570), to determine tool in next time step Whether will inside leave preferred volume (570).

In this embodiment, preferred volume area 570 extends across the lobus dexter of liver.Fig. 5 a and Figure 5b shows that the rows of system How to depend on site of the tool tip relative to preferred volume area 570, and Fig. 5 c and Fig. 5 d show the movement of tool such as What influences the behavior (that is, preferred volume area rule/function).

In fig 5 a, tool (310) is located in preferred volume area 570, and the not movement of command tools.In figure 5b, Tool (310) is located at outside preferred volume area 570.

In the embodiment shown, order mobile 340 is mobile to make tool (310) separate preferred volume area 570.At it In his embodiment, system prevents the movement 340；In this embodiment, tool (310) will remain close to preferred volume area 570.In other embodiments, system warning/signal mobile 340 to be restrained to operator.Using in this field Any method known, this warning/signalling can be vision or the sense of hearing.

Fig. 5 c and Fig. 5 d schematically show influence of the movement of tool to the operation of preferred volume rule/function.? In Fig. 5 c and Fig. 5 d, tool (310) sufficiently closes to the edge in preferred volume area 570, so that tool may be in next time step Preferred volume area is left during rapid.

Fig. 5 c shows the influence that tool (310) is deeper brought into the movement 350 in preferred volume area 570.Due to movement 350 are entered in preferred volume area 570, so the movement is allowed.

In figure 5d, the movement 350 of tool is except preferred volume 570, so that tool (310) is possibly off preferred volume 570。

A kind of embodiment according to shown in orders mobile 340 tool (310) is made to move into preferred volume area 570. In other embodiments, system prevents the movement 350, but does not order mobile 340；In such an embodiment, tool (310) preferred volume area 570 will be remained close to.In other embodiments, system warning/to operator's movement of signaling is Restrained, but do not constrain mobile 350 or order the movement 340 far from preferred volume area 570.Use as known in the art Where method, this warning/signalling can be vision or the sense of hearing.

Embodiment 5- organ/tool detection function

With reference to Fig. 6, the figure show in a non-limiting manner organ detection system embodiment (it should be noted, however, that It can be provided for detection instrument rather than organ).

For each organ, the 3d space position storage of organ is in the database.In Fig. 6, to the circumference of each organ Mark is done, to indicate the edge of the volume in the 3d space site of storage in the database.

In Fig. 6, liver 610 is marked with dash line.Stomach 620 is marked with dash line, intestines 630 is marked with solid line, uses dotted line Mark gall-bladder 640.

In some embodiments, the visible mark of operator or label are also presented.It can be used as is generally known in the art Any display identification mark method.For non-limiting example, in the display of reinforcing, colored or patterned mark It can indicate the site of organ, the region for the display that wherein circumference of mark instruction organ or instruction organ wherein occur.

Embodiment 6-tool detection function

With reference to Fig. 7, which shows the embodiment of tool detection function in a non-limiting manner.For each tool, The 3d space position storage of tool is in the database.It in Fig. 7, marks to the circumference of each tool, number is stored in instruction According to the edge of the volume in the 3d space site in library.In Fig. 7, left side tool is marked with dash line, and marks right side with dotted line Tool.

In some embodiments, the visible mark of operator or label are also presented.It can be used as is generally known in the art Any display identification mark method.For non-limiting example, in the display of reinforcing, colored or patterned mark Can be with the site of marking tools, wherein the circumference of mark marking tools or marking tools are in the region of the display wherein occurred.

Embodiment 7- moves detection function/rule

With reference to Fig. 8, which shows the embodiment of mobile detection function/rule in a non-limiting manner.Fig. 8 a signal Show to property the liver 810, left side tool 820 and right side tool 830 in time t.Fig. 8 b is schematically shown later Time t+ Δ t liver 810, left side tool 820 and right side tool 830, wherein Δ t is small time interval.In the implementation In example, left side tool 820 has been moved down in time interval Δ t (towards the direction of liver 810).

System has been detected by the movement of left side tool 820 and marks the movement.This passes through in figure 8b around left side work The dash line of tool 820 is schematically shown.

Embodiment 8- anticipation function

With reference to Fig. 9, which shows the embodiment of above-mentioned anticipation function in a non-limiting manner.

Fig. 9 a shows the left side tool 920 and right side tool 930 in time t.

Fig. 9 b shows the same tool in later time t+ Δ t, wherein Δ t is small time interval.Left side tool 920 to the right and move down, and right side tool 930 is left and up.If movement continues (such as the dotted line institute in Fig. 9 c Show), then before next time interval terminates, in other words, when some between time t+ Δ t and time t+2 Δ t Between, tool will collide, as shown in the tool tip in the dotted circle 950 in Fig. 9 c.

In this embodiment, system is automatically prevented from the collision of prediction, and in this embodiment, system application movement 940 come redirect left side tool 920, so as to anticollision.

In other embodiments, system is warned/may be collided to operator's signalling, but does not change any tool Movement.Using any method as known in the art, this warning/signalling can be vision or the sense of hearing.

In other embodiments, for non-limiting example, anticipation function can be enabled to change the visual field and follow work The movement of the prediction of tool or organ, so as to warn (or prevent) enter no-fly zone prediction movement, with warning (or prevention) from Open the movement of the prediction of favored area.

Tool function/rule on the right side of embodiment 9-

With reference to Figure 10, which shows the embodiment of right side tool function in a non-limiting manner.Figure 10 is schematically Show liver 1010, left side tool 1020 and right side tool 1030.The right side tool schematically shown by dash line 1040 It is marked, and the 3d space site of right side tool constantly and is in real time stored in the database.Now, according to right side work Has function/rule, endoscope is constantly tracked right side tool.

It should be noted that rule/function (left side tool function/rule) identical to left side tool application.

The visual field embodiment 10- function/rule

With reference to Figure 11, which shows visual field function/rule embodiment in a non-limiting manner.

Figure 11 a is schematically shown in the visual field of the abdomen of time t.It is liver 1110, stomach 1120, intestines 1130 in the visual field With gall-bladder 1140.

Gall-bladder is remained almost wholly visible on the left of the visual field.Two tools are also in the visual field, their tip is close to liver.This A little tools are left side tool 1150 and right side tool 1160.In this embodiment, visual field function/rule tracking left side tool 1150.In this embodiment, left side tool 1150 moves right, as indicated by arrow 1170.

Figure 11 b is shown in the visual field of time t+ Δ t.The visual field has moved right, so that the tip of left side tool 1150 Still it is nearly seated at the center in the visual field.It can be seen that, it can be seen that less gall-bladder 1140, and more right side tools 1160 are Through entering the visual field.

It can be the tool for following selection by visual field function/rule settings, as in this embodiment, or by selection Organ is maintained at the center in the visual field.Visual field function/the rule can also be set to for particular tool group being retained in the visual field, root It zooms in or out according to needs to prevent the tool of any selection from being located at except the visual field.

Alternatively, visual field function/rule defines n 3d space position；N is greater than or equal to 2 integer；It is all described The combination of n 3d space position provides the pre-determining visual field.

The each movement of endoscope or operation tool in n 3d space position is allowed movement, and Any movement of endoscope or operation tool except n 3d space position is all restrained movement.

Alternatively, the visual field function/rule defines n 3d space position；N is greater than or equal to 2 integer；It is all The combination of n 3d space position provides the pre-determining visual field.

Endoscope is relocated if detecting movement via the detection device according to visual field function/rule, So that keeping the visual field.

Embodiment 11-is labeled tool function/rule (or alternatively preferred kit rule)

With reference to Figure 12, which shows the embodiment of labeled tool function/rule in a non-limiting manner.

Figure 12 shows three tools (1220,1230 and 1240) close to interested organ, in this embodiment, should Interested organ is liver 1210.

The tool that surgeon is most interested at this time during operation is tool 1240.Tool 1240 has been labeled (dotted line 1250)；The 3d space site of tool 1240 constantly stores in the database, and the space site be noted as it is interested Site.

This label can be used for many purposes by system, including but not limited to: by tool 1240 be maintained at the visual field center, It predicts the Future movement of the tool, prevent the tool and other tool collisions or prevents other tools and the tool collision, instruction Endoscope is continually monitored and tracks described labeled tool 1250 etc..

It should be noted that in preferred kit rule, a tool in system marks tool and as in labeled work It is executed like that in tool rule/function.

Embodiment 12- is close to function/rule

With reference to Figure 13, which is shown in a non-limiting manner close to function/rule embodiment.

Figure 13 a schematically shows two tools separated by the distance 1330 close to distance for being greater than pre-determining (1310 and 1320).Since tool 1310 is not near tool 1320, the visual field (1380) are not moved.

Figure 13 b schematically shows two tools separated by the distance 1330 close to distance for being less than pre-determining (1310 and 1320).

Since tool 1310 is near tool 1320, the visual field 1380 is moved up, and is schematically shown by arrow 1340 Out, until the tip of tool 1 (310) and tool 1320 is located at the center (Figure 13 c) in the visual field 1380.

Alternatively, once the distance between two tools (1320) and (1310) (1330) are less than pre-determining distance, it is System just alerts described in user close to (the close collision that may cause between two tools).Optionally, system will be in tool One tool is mobile far from another tool.

Embodiment 13- operator input function/rule

With reference to Figure 14, which shows operator's input function/rule embodiment in a non-limiting manner.According to this Embodiment receives the input from the operator.

It in the examples below, is which tool tracked from the received input of operator.

Figure 14 a schematically shows the endoscope with the visual field 1480, which shows liver 1410 and two works Tool 1420 and 1430.Radio transmitter 1460 is enabled to send coded command by receiver 1470.Operator 1450 selects first The tip of left side tool is selected as interested region, makes the tip of tool on the left of system marks (1440).

As shown in fig. 14b, then system guides and modifies the spatial position of endoscope, so that labeled tool tip 1440 are located at the center in the visual field 1480.

Another embodiment of operator's input function/rule is as follows:

If tool is closely moved to the organ in surgical environments, advised according to close to rule or anticollision Then, system will prevent the movement of the operation tool according to a kind of embodiment.

A kind of embodiment according to the present invention, once operation tool has stopped, times of the tool in this direction What is mobile be all interpreted from operator to make the input continued to move to of the operation tool in said direction.

Therefore, according to the embodiment, operator's input function/rule receive the input from operator (i.e. doctor) with Continue to move to the operation tool (even if input " violation " anticollision is regular).The input is only that operation tool (is being After system warning or system prevent it is mobile after) lasting movement form.

The constant visual field rule/function of embodiment 14-

With reference to Figure 15 a to Figure 15 D, the tracking system with constant visual field rule/function is shown in a non-limiting manner The embodiment of system.

In many endoscopic systems, the side of tipped lens and endoscope in camera optics is out of square.Tradition On, tipped lens angle is described about right angle, so that being described as having 0 angle with endoscope side tipped lens at right angle Degree is.In general, angled endoscope tip lens have 30 ° or 45 ° of angle.This tipped lens angle will affect scaling The image that period is seen.Figure 15 is shown in a manner of not to scale (NTS), for legacy system, has vertical tipped lens in end The influence (Figure 15 a and Figure 15 b) scaled in the visual field of the endoscope of setting is peeped compared to having in angled tipped lens The influence (Figure 15 c and Figure 15 d) scaled in the visual field of mirror.

Figure 15 a and Figure 15 c show endoscope (100), its object observed (200) and before scaling by interior The image (130) that sight glass video camera is seen.Solid arrow (160) indicates the limit of FOV, and dashed line arrows (170) indicate The center the visual field (FOV)；Since object is located at the center of FOV, the image (2210) of object is located at camera review (130) Center.Fig. 3 B and Fig. 3 D show endoscope (100), its object observed (200) and after the zooming by endoscopes The image (130) that video camera is seen.Solid arrow (160) shows the limit of FOV, and dashed line arrows (170) are shown The center in the visual field.

If tipped lens to be set to (Figure 15 a and Figure 15 b) of setting in the end of endoscope, it is located at central region Object (200) before scaling (Figure 15 a) and scaling after (Figure 15 b) be respectively positioned on the visual field (FOV) (and camera review) (130) center.However, if tipped lens are set (Figure 15 C and Figure 15 D) at an angle in the end of endoscope, Scaling before in FOV (and camera review) center object (Figure 15 C) after the zooming will not be located at FOV (or camera shooting Machine image) center (Figure 15 D) because the direction of motion of endoscope be not the visual field (170) center be directed toward direction

Different from legacy system in the embodiment of system of the invention, control device keeps the visual field during scaling (FOV) center, and it is unrelated with tipped lens angle.Via data processing system control endoscope scaling the advantages of be, It does not need tipped lens angle being input to data processing system, avoids possible error source.

A kind of embodiment according to the present invention, in order to which the visual field kept constant will adjust the movement of endoscope.

Embodiment 15- deviation rule/function

According to certain embodiments of the present invention, any deviation of same system can be informed user by system.

The parasitism that the deviation of system may cause endoscope tip is mobile, wherein endoscope tip will not be along anticipated orientation Accurately move.According to a kind of embodiment of the system, the system include sensor (for example, gyroscope, accelerometer and its Their any combination), the position of pivoting point is calculated/estimates, in real time so that (a) informs user's deviation；Or it (b) calculates inclined Difference, so that its adjustable movement of system is to prevent parasitic movement.

16-rate of embodiment changes rule/function

With reference to Figure 16, which shows the reality for changing rule/function tracking system with rate in a non-limiting manner Apply mode.

In traditional endoscope control system, the movement of endoscope is occurred with single-rate.The rate is quite fast, so that Endoscope can move rapidly between the site opened divided very much.However, it means that subtle adjustment is so difficult so that logical Often without subtle adjustment.In embodiments of the present invention, the rate at the tip of endoscope changes automatically, so that endoscope is sharp End is closer to object, and endoscope tip movement is slower, which can be tool, obstacle or interested object.At this In embodiment, as shown in Figure 7, pivoting point of the measurement from the tips (195) of endoscope (100) to endoscope (190) away from From X (150), wherein the pivoting point is at or near the surface of the skin (1100) of patient (1000).Also measurement is peeped from interior The tip (195) of mirror is extremely located at the distance Y (250) of the object (200) of field of view center.According to the speed V of pre-determining_p, under It states to calculate the tip of endoscope in the actual speed V of given time_{It is practical}:

Therefore, closer to the object of field of view center, endoscope movement is slower, allows to using even subtle adjustment A possibility that automatically controlling, and reducing endoscope and tissue or instrument contacts.

In some embodiments of the system, control unit is pressed tighter, and endoscope tip is mobile fastlyer.? In these embodiments, if rate is higher than the maximum value of pre-determining, system provides warning.The example of alarming method for power include but Be not limited to: constant volume, constant tone, variation volume, variation tone, voice signal, the visual signal of constant color, brightness are permanent The visual signal of fixed visual signal, color change, the visual signal of brightness change, at least some in endoscopic images Upper visible signal, the visible signal, visible at least some of surroundings thereof at least some of patient Signal, the vibration in control unit, the temperature change in control unit and their any combination.

According to certain embodiments of the present invention, the movement speed (rate and direction) of endoscope can be according to endoscope Distance of the tip away from organ-/ tissue is adjusted.

Embodiment 17- goes to rule/function

With reference to Figure 17, which is shown in a non-limiting manner with the embodiment party for going to rule/function tracking system Formula.

In the following embodiments, it receives and inputs from the operator in site, and endoscope is manipulated to for being placed in site The center of FOV.

Figure 17 a schematically shows endoscope, which has the visual field with center 1780.Two works in FOV Tool 1720 and 1730 is visible.Site 1790 is input to system.Can order mobile 1740 with by the center of FOV from its mesh Front position is moved to the site 1790 of input.

As shown in fig. 17b, then system guides and modifies the spatial position of endoscope, so that site 1790 is located at FOV Center 1780.Tool 1720 and 1730 not yet moves.

Embodiment 18- goes to rule/function

With reference to Figure 18, which is shown in a non-limiting manner with the embodiment party for going to rule/function tracking system Formula.

In the following embodiments, it receives and inputs from the operator in site, and labeled tool is manipulated to be labeled Tool is placed on the center of FOV.

Figure 18 a schematically shows the FOV of endoscope.Two tools 1820 and 1830 are visible in FOV；Short stroke Line indicates labeled tool.Site 1890 is input to system.It can order mobile 1840 with by labeled tool 1820 from its Current position is moved to the site 1890 of input.

As shown in Figure 18 b, system is then guided and the spatial position of modification endoscope, so that labeled tool 1830 Tip is located at site 1890.Tool 1730 not yet moves, and the center of FOV is not also changed.

Embodiment 19- intelligent response

Figure 20 shows the illustrative of intelligent response rather than non-limiting embodiment in proportion.Endoscope (2610) is close The organ (2620) that it is being observed.Issue order " being moved to the left "；Subsequent right and wrong are shown by dashed line arrows (2630) Intelligent response and the path for being moved to the left fixed amount.The path will lead to endoscope and be located at the point marked with star (2650) The organ at place collides, also, if possible continues to move to, then organ will be seriously damaged.

In the exemplary intelligent response, path (dotted line 2640) is not straight line.Tool is moved up to avoid organ, so After be moved to the left.Tool and organ keep approximately constant distance, move down the tool when end of the tool close to path.

Embodiment 20- is intelligently ordered

Figure 20 is shown to intelligently ordering the illustrative and non-limiting embodiment responded.Order is " suture ", Response is knotted with close incisions.The site of suture is schematically shown by arc (2730,2740,2750).Show holding The movement at the tip of the movement and the second tweezers (2720) of the forceps tips of needle (2710).For suturing each time, suturing Cheng Hou, before the oblique site for being moved to next suture, tool moves away from suture site obliquely.After the completion of suture (circle of contact 2770), the movement of grasper is almost horizontal (2760), rather than is ramped up.

Although various embodiments are described above, it should be appreciated that, they are only presented in an illustrative manner Rather than it limits.Accordingly, it is preferred that the width and range of embodiment should not be limited by any of above illustrative embodiments, and It should be defined according only to the following claims and their equivalents.

Claims

1. a kind of for controlling the voice activation control system of at least one instrument, the voice activation control in operation setting System includes:

A. speech transducer, the speech transducer are configured to detect at least one surgery by being located in the operation setting At least one voice command that doctor generates；

B. sender unit, the sender unit are operably connected to the speech transducer, and the transmitter is configured At at least one described voice command to be converted into described at least one transmissible voice signal and transmission, at least one can The voice signal of transmission；

C. processor, the processor are operably connected to the sender unit, and the processor is configured to receive institute At least one transmissible voice signal is stated, the processor is configured to turn at least one described transmissible voice signal Change the operational order group of at least one pre-determining associated at least one described instrument into, at least one pre-determining Operational order group includes at least one instruction；And

D. at least one control device, at least one described control device be operably connected to the processor and it is described at least One instrument；At least one described control device be configured to receive the operational order group of the pre-determining and make it is described at least One instrument is correspondingly run；

2. voice activation control system according to claim 1, wherein the site of the wearable elements is selected from by following The group of composition: it is integrated in the operation wearable elements that can be dressed by least one described surgeon, is integrated in the system In system, it could attach at least part of the system and their any combination.

3. voice activation control system according to claim 1, wherein the operation wearable elements are selected from by following structures At group: mask, headgear, head-wearing piece, cap, shoe cover, gloves, hospital's robe, operation uniform, dustcoat, neck wear part, muffetee, shield Arm, earphone and their any combination.

4. voice activation control system according to claim 1, wherein at least one of following is applicable:

A. at least one described instrument is selected from by following groups constituted: endoscope, microscope, mechanical arm, laparoscope, operating lamp, Operating table, surgical camera, imaging device, injection device, measuring device, optical device, stereotactic apparatus, positioning device, Pumping equipment, water-tight equipment, ablating device, device for excising, dissection device and their any combination；

B. the speech transducer includes:

Voice recognition unit, the voice recognition unit are configured to at least one sound described in being picked up as the microphone Order executes voice recognition algorithm, thus to identify at least one described voice command；The voice recognition algorithm is selected under State the group of composition: hidden Markov model, dynamic time warping, neural network, deep neural network and their any group It closes；

D. the sender unit be selected from by following groups constituted: RFID, IR transmitter, number RF, RF communicate, bluetooth equipment with And their any combination；

H. the system also includes feedback mechanism, the feedback mechanism is configured to receive by the member in following groups constituted: Audio signal, visual signal and their any combination, and the feedback mechanism is configured to indicate that the voice command Execution state；And

I. at least one response of at least one voice command described at least one is selected from by following groups constituted: intelligence is rung It answers, non intelligent response and their any combination, the intelligent response are configured to consider at least one spy of ambient enviroment Sign and the non intelligent response do not consider any feature of the ambient enviroment；The feature is selected from by following groups constituted: The dangerous or interference between obstacle, two operation tools, instrument two components between interference, dry between two instruments A possibility that disturbing, damage is caused to a part of patient and their any combination.

5. voice activation control system according to claim 1, wherein at least one described voice command includes at least one A complexity sentence；The speech transducer further includes context recognition unit, and the context recognition unit is configured to according to Complicated sentence identifies at least one described voice command.

6. voice activation control system according to claim 1, wherein the voice command is not defined or wraps At least one qualifier is included, at least one described qualifier is configured to modify at least one component of response, following In at least be applicable in:

A. the qualifier is selected from by following groups constituted: amount, operation tool, instrument and their any combination；And

B. the amount is fixed entry value either fractional value.

7. voice activation control system according to claim 6, wherein the order not being defined be configured to include Pre-determining qualifier is configured to continue process until stopping.

8. voice activation control system according to claim 7, wherein be at least applicable in following:

B. the voice command is configured to reversibly select the member by following groups constituted: instrument, operation tool, patient At least part and their any combination；The selected duration is selected from by following groups constituted: reaching pre-determining Time or until receive change order；

9. voice activation control system according to claim 1, wherein the transmissible voice signal to it is described at least The conversion of the operational order group of one pre-determining is carried out via the rule group of pre-determining, at least one described pre-determining Regular group include selected from by least one rule of following groups constituted: it is most-often used tool rule, right side tool rule, left Side tool rule, visual field rule, no-fly zone rule, route rule, environmental planning, operator's input rule, close rule, anti-collision Hit rule, the rule based on history, the movement rule be allowed to and restrained depending on tool, preferred volume area rule, Preferred kit rule, mobile detected rule, labeled tool is regular, go to rule, rate changes rule and theirs is any Combination；According to regular group of the pre-determining, the movement and the controller being allowed to described in the controller allowance are refused The restrained movement.

10. voice activation control system according to claim 9, wherein at least one of following is applicable:

A. at least one described instrument includes operon system, and the operon system is configured to the rule according to the pre-determining Then group relocates at least one described operation tool spatially；

B. the route rule include store predefined route can communications database, at least one described operation tool is configured It is moved in the surgical environments along the predefined route；The predefined route includes at least one described operation tool N 3d space position；N is greater than or equal to 2 integer；The movement being allowed to is wherein at least one described operation Tool is positioned substantially at least one spatial displacement in the n 3d space position of the predefined route, And the restrained movement is that the site of wherein at least one operation tool is substantially different from described make a reservation for The movement of the n 3d space position of adopted route；

C. the environmental planning include can communications database；It is described can communications database be configured to receive the surgical environments At least one realtime graphic and be configured to the realtime graphic execute scan picture and determine in the operation The 3d space position of the danger of at least one of environment or obstacle；The environmental planning is configured to according in the surgical environments Described dangerous or obstacle determine the movement and the restrained movement being allowed to so that the restrained movement It is the shifting that wherein at least one described operation tool is positioned substantially at least one spatial position in the 3d space position It is dynamic, and the movement being allowed to is that the site of wherein at least one operation tool is substantially different from the 3d space The movement of position；At least one described dangerous or obstacle is selected from by following groups constituted: tissue, operation tool, organ, endoscope And their any combination；

D. the close rule is configured to define at least one of following: pre-determining between at least two operation tools away from From and at least two operation tools between pre-determining angle；For the pre-determining distance, the movement being allowed to is Movement within the scope of the pre-determining distance or except range, and the restrained movement is in the pre-determining Except the range of distance or within the scope of movement；For the pre-determining angle；The movement being allowed to is described pre- Determine the movement within the scope of angle or except range, and the restrained movement is the model in the pre-determining angle Except enclosing or within the scope of movement；

E. the anticollision rule is configured to be defined in the surgical environments at least one described operation tool and anatomy Pre-determining distance between element；The movement being allowed to is the movement in the range for being greater than the pre-determining distance, and And the restrained movement is the movement in the range for being less than the pre-determining distance；The anatomy element is selected under State the group of composition: tissue, organ, other operation tools and their any combination；

F. the no-fly zone rule include there is n 3d space position can communications database；N be greater than or equal to 2 it is whole Number；N 3d space position is defined on the pre-determining volume in the surgical environments；The no-fly zone rule is configured to: If the movement is in the no-fly zone, it is determined that the restrained movement, and if the movement described no-fly Outside area, it is determined that the movement being allowed to so that the restrained movement be wherein in the operation tool it is described extremely A few operation tool is positioned substantially at least one spatial displacement in n 3d space position, and institute It states the site that the movement being allowed to is wherein at least one operation tool and is substantially different from n 3d space position It is mobile；

G. preferred volume area rule include there is n 3d space position can communications database；N is greater than or equal to 2 Integer；N 3d space position provides the preferred volume area；Preferred volume area rule is configured to determine described Operation tool in n 3d space position described in the movement that is allowed to and the operation tool it is empty in the n 3D Between restrained movement outside position so that the movement being allowed to be the wherein operation tool at least part it is basic On be located at least one spatial displacement in n 3d space position, and the restrained movement is it Described in the site of operation tool be substantially different from the movement of n 3d space position；

H. the rule based on history include can communications database, what the rule based on history included can communications database Each 3d space position of each operation tool in the operation tool is stored, so that each movement of each operation tool It is stored；The rule based on history is configured to the mobile determining quilt of history according at least one operation tool The movement of permission and the restrained movement, so that the movement being allowed to is wherein at least one described operation tool base At least one spatial displacement being located in sheet in the 3d space position, and the restrained movement is wherein The site of at least one operation tool is substantially different from the movement of n 3d space position；

I. it is described go to rule include can communications database；It is described can communications database be configured to receive include n 3d space The input of position；N is greater than or equal to 1 integer；The movement being allowed to is selected from by the movement of following groups constituted: The labeled tool is redirected so that at least part of the labeled tool to be located in n 3d space position At least one spatial position on, or wherein the labeled tool is redirected with by least the one of the labeled tool Part is located in the movement of the pre-determining position relative at least one spatial position in n 3d space position；

J. change in rule in the rate, the system is configured to be continually monitored the operation in the surgical environments The distance between the tip of tool and at least one object, so that the rate of the operation tool is become according to the distance Change；And

K. the operon system is configured to be made according to regular group of the pre-determining at least one described operation tool At least one described operation tool spatially relocates so that if the movement of at least one operation tool be by The movement of constraint, then the operon system prevents the movement.

11. voice activation control system according to claim 9, wherein the system be configured to provide to it is described extremely The alarm of the restrained movement of a few operation tool.

12. voice activation control system according to claim 9, wherein operator's input rule includes that can communicate Database；It is described can communications database be configured to receive the operator from the system about it is described at least one operation The input of the movement and the restrained movement being allowed to of tool；It is at least applicable in following:

A. the input includes n 3d space position；N is greater than or equal to 2 integer；Wherein, in the spatial position At least one spatial position is defined as the site being allowed to, and at least one spatial position in the spatial position is determined Justice is restrained site, so that the movement being allowed to is that wherein at least one described operation tool is positioned substantially at institute State at least one spatial displacement in n 3d space position, and the restrained movement be wherein it is described at least The site of one operation tool is substantially different from the movement of n 3d space position；

B. the input includes at least one rule, according at least one described rule, can determine at least one described operation The movement and the restrained movement being allowed to of tool so that the spatial position of at least one operation tool by The movement and the restrained movement that the controller is allowed to according to are controlled；The rule group packet of the pre-determining It includes selected from by least one of following groups constituted rule: most-often used tool, right side tool are regular, left side tool is regular, Visual field rule, no-fly zone rule, route rule, environmental planning, operator's input rule, close to rule, anticollision rule, preferably Volume area rule, preferred kit rule, mobile detected rule, the rule based on history, depending on tool the sum being allowed to by The movement rule of constraint and their any combination；And

C. the movement that operator's input rule will be allowed is converted into restrained movement and turns restrained movement Change the movement being allowed into.

13. voice activation control system according to claim 9, wherein the shifting being allowed to described in the controller allowance The dynamic and described controller refuses the restrained movement.

14. voice activation control system according to claim 9, wherein at least one of following is applicable: (a) institute The system of stating also comprises endoscope；The endoscope is configured to provide at least one realtime graphic of the surgical environments；(b) At least one operation tool in the operation tool is arranged to provide at least one realtime graphic of the surgical environments Endoscope.

15. voice activation control system according to claim 14, wherein at least one of following is applicable:

A. the most-often used tool rule includes counting to the amount of movement of each operation tool in the operation tool Can communications database；The most-often used tool rule is configured to constantly position the endoscope to track most normal movement The movement of operation tool；The alarm be selected from by following groups constituted: audio signal, voice signal, optical signal, flash signal with And their any combination；

B. the right side tool rule is configured to according to the movement of the operation tool on the right side for being located in the endoscope come really The movement being allowed to of the fixed endoscope；

C. the left side tool rule is configured to according to the movement of the operation tool in the left side for being located in the endoscope come really The movement being allowed to of the fixed endoscope；

D. the labeled tool rule includes a device, and the device that the labeled tool rule includes is configured to in institute At least one operation tool in surgical environments is stated to be marked and determine the described to be constantly tracked of the endoscope The movement being allowed to of the movement of labeled operation tool；

E. the visual field rule include there is n 3d space position can communications database；N is greater than or equal to 2 integer； The combination of all n 3d space positions provides the pre-determining visual field；The visual field rule is configured to determine in described and peeps Mirror in n 3d space position described in the movement that is allowed to be allowed to so that described so as to the visual field kept constant Movement is that wherein the endoscope is positioned substantially at least one spatial displacement in n 3d space position, And the restrained movement is that the site of the wherein endoscope is substantially different from the shifting of n 3d space position It is dynamic；

F. the preferred kit rule include can communications database, the database purchase preferred kit；The preferred kit rule Then it is configured to determine the movement being allowed to described in the movement to be constantly tracked the preferred kit of the endoscope；

G. including depending on the movement rule be allowed to and restrained of tool described in can communications database；It is described to communicate number The pre-determining characteristic of at least one operation tool at least one described operation tool is configured to store according to library；It is described to depend on It is configured to determine described be allowed to according to the pre-determining characteristic in the movement rule be allowed to and restrained of tool Movement and the restrained movement；So that the movement being allowed to is at least one hand described in the tracking of the endoscope The movement of at least one operation tool in art tool with the pre-determining characteristic；The operation tool it is described it is pre- really Determine characteristic to be selected from by following groups constituted: physical size, structure, weight, sharpness and their any combination；And

H. the mobile detected rule includes the real-time 3d space position with each operation tool in the operation tool It can communications database；It is described extremely that the mobile detected rule is configured to the detection when receiving the variation of the 3d space position The movement of a few operation tool, so that the movement being allowed to is that wherein the endoscope is redirected to focus on movement Operation tool on movement；And

I. it is described go to rule include can communications database；It is described can communications database be configured to receive include n 3d space The input of position；N is greater than or equal to 1 integer；The movement being allowed to is that wherein endoscope is redirected to focus Movement at least one spatial position in n 3d space position.

16. voice activation control system according to claim 9, wherein each rule is associated with weighting function.

17. voice activation control system according to claim 9, wherein at least one described weighting function is to become the time Change function, the value of the time change function can be by being determined by least one member in following groups constituted: operator Input, event, object and their any combination.

18. voice activation control system according to claim 1 additionally includes at least one site estimator, wherein At least one described site estimator includes at least one endoscope, at least one described endoscope is configured to obtain described The realtime graphic of the intracorporal surgical environments of people；And at least one operation instrument space site software, it is described at least one Operation instrument space site software is configured to receive at least one described realtime graphic of the surgical environments and estimates institute State the 3d space position of at least one operation tool.

19. voice activation control system according to claim 18, wherein at least one of following is applicable:

A. at least one described site estimator is included (a) selected from by least one element of following groups constituted: optical imagery Device, radio frequency transmission and receiving device, at least one mark at least one described operation tool and their times Meaning combination；And (b) at least one operation instrument space site software, at least one described operation instrument space site software It is configured to be estimated by means of the element 3d space position of at least one operation tool；

B. at least one described site estimator is the interface subsystem between surgeon and at least one described operation tool, The interface subsystem includes:

Ii. at least one includes the array of M video camera, each video camera in the M video camera, wherein M is just whole Number；

Iii. optional optics mark and the device for the optics mark to be attached to at least one operation tool；With And；

Iv. the computerized Algorithm that can be run via the controller, the computerized Algorithm are configured as record by institute It states the received image of each video camera of each of M video camera and therefrom calculates the position of each tool in the tool It sets, and is additionally configured to be automatically provided the result of calculating to the human operator of the interface.

20. a kind of control the method for at least one instrument in operation setting via voice activation, the method includes following Step:

A. voice activation control system is provided, the voice activation control system includes:

I. speech transducer, the speech transducer are configured to detect at least one surgery by being located in the operation setting At least one voice command that doctor generates；

Ii. sender unit, the sender unit are operably connected to the speech transducer, and the transmitter is configured At at least one described voice command to be converted into described at least one transmissible voice signal and transmission, at least one can The voice signal of transmission；

Iii. processor, the processor are operably connected to the sender unit, and the processor is configured to receive At least one described transmissible voice signal of number, the processor are configured at least one described transmissible sound Signal is converted into the operational order group of at least one pre-determining associated at least one described instrument, and described at least one is pre- Determining operational order group includes at least one instruction；And

Iv. at least one control device, at least one described control device be operably connected to the processor and it is described extremely A few instrument；At least one described control device be configured to receive the operational order group of the pre-determining and make it is described extremely A few instrument is correspondingly run；

B. the institute that at least one surgeon as described in the operation setting generates is detected via the speech transducer State at least one voice command；

D. the transmissible voice signal is sent using the sender unit；

F. the transmissible voice signal is converted into institute associated at least one described instrument via the processor The operational order group of at least one pre-determining is stated,

G. it is connect by being operably connected at least one control device described in the processor and at least one described instrument Receive the instruction group of the pre-determining；

H. at least one described instrument is operated according to the instruction group of the pre-determining using at least one described control device；

21. according to the method for claim 20, additionally include the steps that the site for selecting the wearable elements, it is described The site of wearable elements is selected from by following groups constituted: being integrated in the operation that can be dressed by least one described surgeon In wearable elements, it is integrated in the system, could attach at least part and their any group of the system It closes.

22. additionally including according to the method for claim 20, selecting the operation that can wear from by following groups constituted The step of wearing element: mask, headgear, head-wearing piece, cap, shoe cover, gloves, hospital's robe, operation uniform, dustcoat, neck wear part, wrist Set, armlet, earphone and their any combination.

At least one of 23. according to method of claim 20, additionally include the following steps:

A. at least one described instrument: endoscope, microscope, mechanical arm, laparoscope, operation is selected from by following groups constituted Lamp, operating table, surgical camera, imaging device, injection device, measuring device, optical device, stereotactic apparatus, positioning are set Standby, pumping equipment, water-tight equipment, ablating device, device for excising, dissection device and their any combination；

B., the speech transducer is set, and the speech transducer includes:

E. select at least one described voice command from by following groups constituted: " unlatching ", " closing ", " amplification ", " diminution ", "left", "right", "upper", "lower", " starting ", " stopping ", " increase ", " reduction ", " opening ", " closed ", " suture ", " cutting ", " ablation ", " selection " and their any combination；

H. be arranged the system also includes feedback mechanism, the feedback mechanism be configured as receiving by following groups constituted at Member: audio signal, visual signal and their any combination, also, the feedback mechanism is configured to indicate that the sound The execution state of order；And

I. at least one response of at least one voice command described at least one: intelligence is selected from by following groups constituted Response, non intelligent response and their any combination, the intelligent response are configured to consider at least one of ambient enviroment Feature and the non intelligent response do not consider any feature of the ambient enviroment；The feature is selected to be made of following Group: the dangerous or interference between obstacle, two operation tools, instrument two components between interference, between two instruments Interference causes a possibility that damaging and their any combination to a part of patient.

24. according to the method for claim 20, additionally including the following steps: that at least one described voice command packet is arranged Include at least one complicated sentence；It further includes context recognition unit that the speech transducer, which is arranged,；And known by means of the context Other unit identifies at least one described voice command according to the complicated sentence.

25. according to the method for claim 20, additionally including the following steps: that it is not to be defined that the voice command, which is arranged, Or including at least one qualifier, at least one described qualifier is configured to repair at least one component of response At least one of change, and additionally include the following steps:

B. the amount is selected as fixed entry value either fractional value.

26. according to the method for claim 25, additionally including the following steps: that the setting order not being defined includes Pre-determining qualifier continues process until stopping.

At least one of 27. according to the method for claim 26, additionally include the following steps:

B. the voice command is reversibly selected by the member in following groups constituted: instrument, operation tool, patient at least one Part and their any combination；And the selected duration is selected from by following groups constituted: up to pre-determining Time or until receive change order；

C. the voice command changes by the member of following groups constituted: pre-determining amount, value, the type of value and theirs is any Combination.

28. according to the method for claim 20, additionally including the following steps: can by described in via the rule group of pre-determining The voice signal of transmission is converted into the operational order group of at least one pre-determining, and at least one described pre-determining is arranged Regular group include selected from by following groups constituted at least one rule: most-often used tool, right side tool rule, left side work Have rule, visual field rule, no-fly zone rule, route rule, environmental planning, operator's input rule, close rule；Anticollision rule Then, the rule based on history, the movement rule be allowed to and restrained depending on tool, preferred volume area rule, preferably Tool rule, mobile detected rule, labeled tool is regular, go to rule, rate changes rule and their any combination； According to regular group of the pre-determining, the quilt is refused in the movement and the controller being allowed to described in the controller allowance The movement of constraint.

At least one of 29. according to the method for claim 28, additionally include the following steps:

A. it includes operon system that at least one described instrument, which is arranged, and the operon system is configured to according to the pre-determining Regular group relocate at least one described operation tool spatially；

B. be arranged the route rule include store predefined route can communications database, at least one described operation tool quilt It is configured in the surgical environments move along the predefined route；The predefined route includes at least one described operation N 3d space position of tool；N is greater than or equal to 2 integer；The movement being allowed to be wherein it is described at least one Operation tool is positioned substantially at the shifting of at least one spatial position in the n 3d space position of the predefined route It is dynamic, and the restrained movement be wherein at least one operation tool the site be substantially different from it is described pre- Define the movement of the n 3d space position of route；

C. be arranged the environmental planning include can communications database；It is described can communications database be configured to receive the surgical rings At least one realtime graphic in border and be configured to the realtime graphic execute scan picture and determine described The 3d space position of the danger of at least one of surgical environments or obstacle；The environmental planning is configured to according to the surgical rings The movement and the restrained movement being allowed to described in the dangerous or obstacle determination in border, so that the restrained shifting Dynamic is that wherein at least one described operation tool is positioned substantially at least one spatial position in the 3d space position It is mobile, and the movement being allowed to is that be substantially different from the 3D empty for the site of wherein at least one operation tool Between position movement；At least one described dangerous or obstacle is selected from by following groups constituted: tissue, organ, interior is peeped operation tool Mirror and their any combination；

D. it is arranged described at least one of following close to rule restriction: the pre-determining distance between at least two operation tools, And at least two pre-determining angle between operation tool；For the pre-determining distance, the movement being allowed to be Movement within the scope of pre-determining distance or except range, and the restrained movement be the pre-determining away from From range except or within the scope of movement；For the pre-determining angle；The movement being allowed to is described pre- true Determine the movement within the scope of angle or except range, and the restrained movement is the range in the pre-determining angle Except or within the scope of movement；

E., the anticollision rule is set and is limited in the surgical environments at least one described operation tool and anatomy element Between pre-determining distance；The movement being allowed to is the movement in the range for being greater than the pre-determining distance, and institute Stating restrained movement is the movement in the range for being less than the pre-determining distance；The anatomy element is selected from by following structures At group: tissue, organ, other operation tools and their any combination；

F. be arranged the no-fly zone rule include there is n 3d space position can communications database；N is greater than or equal to 2 Integer；N 3d space position is defined on the pre-determining volume in the surgical environments；The no-fly zone rule is configured At: if the movement is in the no-fly zone, it is determined that the restrained movement, and if the movement in the taboo Fly outside area, it is determined that the movement being allowed to, so that the restrained movement is wherein described in the operation tool At least one operation tool is positioned substantially at least one spatial displacement in n 3d space position, and The movement being allowed to is that the site of wherein at least one operation tool is substantially different from n 3d space position Movement；

G. be arranged preferred volume area rule include there is n 3d space position can communications database；N is greater than or waits In 2 integer；N 3d space position provides the preferred volume area；Preferred volume area rule is configured to determine The operation tool in n 3d space position described in the movement that is allowed to and the operation tool at the n The restrained movement outside 3d space position, so that the movement being allowed to is at least the one of the wherein operation tool Part is positioned substantially at least one spatial displacement in n 3d space position, and described restrained Movement is the movement that the site of the wherein operation tool is substantially different from n 3d space position；

H. be arranged the rule based on history include can communications database, what the rule based on history included communicates number Each 3d space position of each operation tool in the operation tool is stored according to library, so that each shifting of each operation tool It is dynamic all to be stored；The rule based on history is configured to the mobile determining institute of history according at least one operation tool The movement being allowed to and the restrained movement are stated, so that the movement being allowed to is wherein at least one described operation work Has at least one spatial displacement being positioned substantially in the 3d space position, and the restrained movement is Wherein the site of at least one operation tool is substantially different from the movement of n 3d space position；

I. setting described in go to rule include can communications database, it is described can communications database be configured to receive include n 3D The input of spatial position；N is greater than or equal to 1 integer；The movement being allowed to is selected from by following groups constituted Mobile: the labeled tool is redirected so that at least part of the labeled tool is located in the n 3d space On at least one spatial position in position, or wherein the labeled tool is redirected with by the labeled tool At least part is located in the shifting of the pre-determining position relative at least one spatial position in n 3d space position It is dynamic；

J. change in rule in the rate, be continually monitored in the surgical environments tip of the operation tool at least The distance between one object, so that the rate of the operation tool is changed according to the distance；And

K., the operon system is set, and the operon system makes at least one described hand according to regular group of the pre-determining Art tool spatially relocates, so that if the movement of at least one operation tool is restrained movement, The operon system prevents the movement.

30. according to the method for claim 28, additionally including the following steps: to provide at least one described operation tool The restrained movement alarm.

31. according to the method for claim 28, additionally including the following steps: that operator's input rule, which is arranged, includes It can communications database；It is described can communications database be configured to receive the operator from the system about it is described extremely The input of the movement and the restrained movement being allowed to of a few operation tool；In additionally including the following steps At least one:

A. it includes n 3d space position that the input, which is arranged,；N is greater than or equal to 2 integer；In the spatial position extremely A few spatial position is defined as the site being allowed to, and at least one spatial position in the spatial position is defined For restrained site so that the movement being allowed to be wherein at least one described operation tool be positioned substantially at it is described At least one spatial displacement in n 3d space position, and the restrained movement is wherein described at least one The site of a operation tool is substantially different from the movement of n 3d space position；

B. be arranged it is described input include at least one rule, according to it is described at least one rule, can determine it is described at least one The movement and the restrained movement being allowed to of operation tool, so that the space bit of at least one operation tool It sets the movement being allowed to according to as the controller and the restrained movement is controlled；The rule of the pre-determining Group includes selected from by least one of following groups constituted rule: most-often used tool, right side tool rule, left side tool gauge Then, visual field rule, no-fly zone rule, route rule, environmental planning, operator's input rule, close rule；Anticollision rule, Preferred volume area rule, mobile detected rule, the rule based on history, is allowed to depending on tool preferred kit rule With restrained movement rule and their any combination；And

C. the movement that operator's input rule will be allowed is converted into restrained movement, and restrained movement is turned Change the movement being allowed into.

32. according to the method for claim 28, additionally including the following steps: that the controller is allowed to described in permitting The mobile and described controller refuses the restrained movement.

At least one of 33. according to the method for claim 28, additionally include the following steps: the system (a) is set System includes additionally endoscope, and the endoscope provides at least one realtime graphic of the surgical environments；(b) hand At least one operation tool in art tool be arranged to provide at least one realtime graphic of the surgical environments in peep Mirror.

At least one of 34. according to the method for claim 33, additionally include the following steps:

A. it includes carrying out to the amount of movement of each operation tool in the operation tool that the most-often used tool rule, which is arranged, What is counted can communications database；The most-often used tool rule is configured to constantly position the endoscope to track most often The movement of mobile operation tool；The alarm is selected from by following groups constituted: audio signal, voice signal, optical signal, flashing letter Number and their any combination；

B., right side tool rule is set, and the right side tool rule is according to the operation work on the right side for being located in the endoscope The movement of tool determines the movement being allowed to of the endoscope；

C., left side tool rule is set, and the left side tool rule is according to the operation work in the left side for being located in the endoscope The movement of tool determines the movement being allowed to of the endoscope；

D. it includes a device that the labeled tool rule, which is arranged, and the device that the labeled tool rule includes is configured to pair At least one operation tool in the surgical environments is marked and determines the endoscope-use to be constantly tracked State the movement being allowed to of the movement of labeled operation tool；

E. be arranged the visual field rule include there is n 3d space position can communications database；N is greater than or equal to 2 Integer；The combination of all n 3d space positions provides the pre-determining visual field；The visual field rule is configured to determine described Endoscope in n 3d space position described in the movement that is allowed to, so as to the visual field kept constant, so that described permitted Perhaps movement is the shifting that wherein endoscope is positioned substantially at least one spatial position in n 3d space position It is dynamic, and the restrained movement is that the site of the wherein endoscope is substantially different from n 3d space position It is mobile；

F. be arranged the preferred kit rule include can communications database, the database purchase preferred kit；The preferred work Tool rule, which is configured to determine, to be allowed to described in the movement to be constantly tracked the preferred kit of the endoscope It is mobile；

G. including depending on the movement rule be allowed to and restrained of tool described in setting can communications database；It is described to lead to Telecommunications databases are configured to store the pre-determining characteristic of at least one operation tool at least one described operation tool；It is described Movement rule be allowed to and restrained depending on tool is configured to determine the quilt according to the pre-determining characteristic The movement of permission and the restrained movement；So that the movement being allowed to is at least one described in the tracking of the endoscope The movement of at least one operation tool in a operation tool with the pre-determining characteristic；The operation tool it is described Pre-determining characteristic is selected from by following groups constituted: physical size, structure, weight, sharpness and their any combination；

H. it includes the real-time 3d space position with each operation tool in the operation tool that the mobile detected rule, which is arranged, That sets can communications database；The mobile detected rule is configured to detect institute when receiving the variation of the 3d space position The movement of at least one operation tool is stated, so that the movement being allowed to is that wherein the endoscope is redirected to focus on Movement on mobile operation tool；And

I. setting described in go to rule include can communications database；It is described can communications database be configured to receive include n 3D The input of spatial position；N is greater than or equal to 1 integer；The movement being allowed to be wherein endoscope be redirected with Focus on the movement at least one 3d space position in n 3d space position.

35. additionally including according to the method for claim 28, by weighting function step associated with each rule Suddenly.

36. according to the method for claim 28, additionally including the following steps: at least one weighting function to be arranged For time change function, and the value by determining the time-varying function by least one member in following groups constituted: operation Person's input, event, object and their any combination.

37. according to the method for claim 20, additionally including the following steps: that at least one site estimator, institute is arranged Stating at least one site estimator includes at least one endoscope, at least one described endoscope is configured to obtain in the people At least one realtime graphic of the intracorporal surgical environments；And at least one operation instrument space site software, it is described extremely Few operation instrument space site software be configured to receive at least one described realtime graphic of the surgical environments and Estimate the 3d space position of at least one operation tool.

At least one of 38. according to the method for claim 20, additionally include the following steps:

A. at least one described site estimator is arranged to include (a) selected from by least one element in following groups constituted: light Learn imaging device, radio frequency transmission and receiving device, at least one mark at least one described operation tool and it Any combination；And (b) at least one operation instrument space site software, at least one described operation instrument space bit Point software is configured to be estimated by means of the element 3d space position of at least one operation tool；

B. the interface set at least one described site estimator between surgeon and at least one described operation tool Subsystem, the interface subsystem include:

Iv. the computerized Algorithm that can be run via the controller, the computerized Algorithm are configured as record by institute It states the received image of each video camera of each of M video camera and therefrom calculates the position of each tool in the tool It sets, and is additionally configured to be automatically provided the result of the calculating to the human operator of the interface.