US 12,257,007 B2
Systems and methods for guiding manipulation of endoscopic tools for endoscopic surgery
Dvir Cohen, Or-Yehuda (IL); and Yaron Levinson, Or-Yehuda (IL)
Assigned to Momentis Surgical Ltd, Or-Yehuda (IL)
Filed by Momentis Surgical Ltd, Or-Yehuda (IL)
Filed on Dec. 12, 2022, as Appl. No. 18/079,046.
Application 18/079,046 is a continuation of application No. 16/701,187, filed on Dec. 3, 2019, granted, now 11,523,872.
Claims priority of provisional application 62/774,364, filed on Dec. 3, 2018.
Prior Publication US 2023/0105300 A1, Apr. 6, 2023
Int. Cl. A61B 34/00 (2016.01); A61B 1/00 (2006.01); A61B 1/303 (2006.01); A61B 17/00 (2006.01); A61B 90/92 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/25 (2016.02) [A61B 1/00045 (2013.01); A61B 1/303 (2013.01); A61B 17/00234 (2013.01); A61B 34/76 (2016.02); A61B 90/92 (2016.02); A61B 2017/00119 (2013.01); A61B 2034/256 (2016.02); A61B 2034/302 (2016.02); A61B 2034/742 (2016.02); A61B 2090/374 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/378 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A computer implemented method of providing a surgical controller with instructions to restrict a manipulation of an endoscopic tool during an endoscopic medical procedure in an intrabody cavity, comprising:
analyzing at least one indication of instructions for manipulation of the endoscopic tool according to an envelope defining a volume that restricts therein manipulation of the endoscopic tool;
prior to implementation of the instructions for manipulation of the endoscopic tool by the surgical controller, determining whether the instructions represent inappropriate manipulation of the endoscopic tool externally to the envelope; and
in response to the determining, providing the surgical controller with an indication of the inappropriate manipulation.