US 11,963,666 B2
Overall endoscopic control system
Gal Atarot, Kfar Saba (IL); and Yaron Levinson, Haifa (IL)
Assigned to Asensus Surgical Europe S.à.R.L., Lugano (CH)
Filed by Asensus Surgical Europe S.à.R.L., Lugano (CH)
Filed on Sep. 30, 2020, as Appl. No. 17/039,856.
Application 17/039,856 is a continuation of application No. 14/380,086, granted, now 10,898,064, previously published as PCT/IL2013/050216, filed on Mar. 7, 2013.
Claims priority of provisional application 61/607,661, filed on Mar. 7, 2012.
Prior Publication US 2021/0015351 A1, Jan. 21, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 1/045 (2006.01); A61B 1/00 (2006.01); A61B 34/35 (2016.01); A61B 90/00 (2016.01); B25J 13/08 (2006.01); B25J 19/02 (2006.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01)
CPC A61B 1/045 (2013.01) [A61B 1/00004 (2013.01); A61B 1/00009 (2013.01); A61B 1/0004 (2022.02); A61B 1/00147 (2013.01); A61B 34/35 (2016.02); A61B 90/37 (2016.02); B25J 13/08 (2013.01); B25J 19/021 (2013.01); A61B 2017/00026 (2013.01); A61B 2017/00075 (2013.01); A61B 2017/00084 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/741 (2016.02); A61B 2034/742 (2016.02)] 8 Claims
OG exemplary drawing
 
1. A method for controlling an endoscope comprising steps of:
displaying in real time images of a field of view (FOV) acquired by an endoscope within a body cavity, said FOV defining at least two axes of a coordinate system fixed with respect to the camera and the displayed images, said at least two axes selected from a group consisting of FOVx-axis, FOVy-axis and FOVz-axis and any combination thereof, such that at least two axes selected from said FOVx-axis, said FOVy-axis, said FOVz-axis and any combination thereof are configured to be real time updated as at least a tip of said endoscope moves and said FOV changes;
receiving as user input FOV commands of motions to maneuver said at least a tip of said endoscope in real time in a desired direction, said FOV commands of motion being commands of motion relative to at least two axes selected from said FOVx-axis, said FOVy-axis and said FOVz-axis, as real time displayed in said image;
converting said FOV commands of motion to maneuvering system commands of motions for a maneuvering system configured to maneuver at least a tip of said endoscope in at least two DOF; said maneuvering system defining a constant x-axis, a constant y-axis and a constant z-axis, said maneuvering system commands of motion being commands of motion relative to said x-axis, said y-axis and said z-axis; and
causing said maneuvering system to maneuver said at least a tip of said endoscope according to said maneuvering system commands of motions.