Method and apparatus for performing minimally invasive cardiac procedures
First Claim
1. A medical robotic system, comprising:
- a robotic arm;
a coupler that pivotally attaches to the arm;
an endoscopic surgical instrument that is held by said coupler; and
a controller having a handle, the controller in electrical communication with the robotic arm; and
wherein movement at the controller produces a proportional movement of the robotic arm and surgical instrument.
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Accused Products
Abstract
A minimally invasive surgical system includes a pair of surgical instruments having end effectors to hold and suture tissue, a pair of robotic arms coupled to the surgical instruments, a controller, and a pair of master handles coupled through the controller to the robotic arms, so that surgeon manipulation of the handles produces corresponding movement of the end effectors in an adjustably scaled fashion. An input button allows the surgeon to adjust the position of the handles without moving the end effectors, so that the handles may be moved to a more comfortable position. An optionally included robotically controlled endoscope allows the surgeon to remotely view the surgical site. Using the system, a cardiac procedure can be performed by making small incisions in the patient'"'"'s skin, inserting the instruments and endoscope through the incisions, and manipulating the handles to move the end effectors to perform the cardiac procedure.
123 Citations
15 Claims
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1. A medical robotic system, comprising:
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a robotic arm;
a coupler that pivotally attaches to the arm;
an endoscopic surgical instrument that is held by said coupler; and
a controller having a handle, the controller in electrical communication with the robotic arm; and
wherein movement at the controller produces a proportional movement of the robotic arm and surgical instrument. - View Dependent Claims (2, 3, 4, 5, 6, 13, 14)
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7. A method for operating a surgical robotic system for performing a surgical procedure on a patient, the method comprising:
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1) providing a first articulate arm, a controller and an input device which receives input commands, the first articulate arm in electrical communication with the controller and the controller in electrical communication with the input device;
2) cutting at least one incision into the patient;
3) attaching a surgical instrument to the first articulate arm;
4) inserting said surgical instrument into the patient through the at least one incision;
5) generating input commands to move said surgical instrument in accordance with the procedure being performed wherein said robotic arm moves said surgical instrument in accordance with the input commands; and
6) removing the surgical instrument from the patient. - View Dependent Claims (8, 9, 10, 11, 12, 15)
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Specification