Overall endoscopic control system
The present invention provides a system for controlling an endoscope, comprising a. an endoscope adapted to provide real time images of FOV within a body cavity; said FOV defines FOVx-axis, FOVy-axis and FOVz-axis, b. a maneuvering system for maneuvering said endoscope; said maneuvering system defines an X-axis, a y-axis; and, a z-axis; c. control means adapted to receive commands of motions from a user to maneuver said endoscope; and d. a data processing system in communication with said control means, adapted to instruct said maneuvering system to maneuver said endoscope according to said commands of motions; wherein said data control means instructs said maneuvering system to maneuver said endoscope according to said commands of motions relative to said FOVx-axis, said FOVy-axis and said FOVz-axis, regardless of said X-axis, said y-axis and said z-axis as defined by said maneuvering system.
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.
2. The method according to claim 1 , additionally comprising causing said maneuvering system to maneuver said at least a tip of said endoscope according to said commands of motions relative to at least two axes selected from said FOVx-axis, said FOVy-axis and said FOVz-axis and any combination thereof, as real time displayed in said image, regardless of the orientation of the camera within said endoscope with respect to said endoscope.
3. The method according to claim 1 , additionally comprising causing said maneuvering system to maneuver said at least a tip of said endoscope according to said commands of motions relative to at least two axes selected from said FOVx-axis, said FOVy-axis and said FOVz-axis and any combination thereof, as real time displayed in said image, regardless of the angular orientation of the camera within said endoscope with respect to said endoscope.
4. The method according to claim 1 , additionally comprising causing said maneuvering system to maneuver said at least a tip of said endoscope according to said commands of motions relative to at least two axes selected from said FOVx-axis, said FOVy-axis and said FOVz-axis and any combination thereof, as real time displayed in said image, regardless of the orientation of said endoscope with respect to said maneuvering system.
5. The method according to claim 1 , wherein receiving FOV commands of motion comprises receiving FOV commands of motion from a manual movement controller.
6. The method according to claim 5 , wherein receiving FOV commands of motion comprises receiving FOV commands of motion from a joystick.
7. The method according to claim 5 , additionally comprising receiving from said manual movement controller commands of motions to maneuver at least one surgical tool within said FOV.
8. The method according to claim 5 , wherein the converting step includes converting said commands of motions relative to said FOVx-axis, FOVy-axis, FOVz-axis to commands of motions relative to said x-axis, said y-axis and said z-axis, and wherein the method additionally comprises instructing said maneuvering system to maneuver said surgical tool according to said commands of motions relative to said FOVx-axis, FOVy-axis, FOVz-axis, as real time displayed in said image, regardless of said x-axis, said y-axis and said z-axis as defined by said maneuvering system.