GUIDE TUBE CONTROL OF MINIMALLY INVASIVE SURGICAL INSTRUMENTS
First Claim
Patent Images
1. A surgical apparatus comprising:
- a guide tube comprising an actively flexible distal portion;
a surgical instrument comprising an end effector at a distal end of the surgical instrument; and
a telemanipulative control system;
wherein the surgical instrument extends through the guide tube; and
wherein, in response to signals generated by the control system, the actively flexible distal segment of the guide tube moves the end effector in at least two orientation degrees of freedom without substantially changing the position of the end effector.
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Accused Products
Abstract
A telemanipulatively controlled guide tube acts as a wrist mechanism for a surgical instrument that extends through the guide tube. The instrument may be removed and replaced with another instrument. In some aspects the instruments are commercial, off the shelf minimally invasive surgical instruments.
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Citations
40 Claims
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1. A surgical apparatus comprising:
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a guide tube comprising an actively flexible distal portion;
a surgical instrument comprising an end effector at a distal end of the surgical instrument; and
a telemanipulative control system;
wherein the surgical instrument extends through the guide tube; and
wherein, in response to signals generated by the control system, the actively flexible distal segment of the guide tube moves the end effector in at least two orientation degrees of freedom without substantially changing the position of the end effector. - View Dependent Claims (3, 4, 5, 7, 8, 9, 10, 11, 12, 13, 14, 15, 31, 32, 39, 40)
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2. (canceled)
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6. (canceled)
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16-30. -30. (canceled)
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33. A surgical apparatus comprising:
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a guide tube comprising a distal end, a first flexible portion, and a second flexible portion adjacent the first flexible portion, wherein the first flexible portion is at the distal end of the guide tube;
a surgical instrument comprising a distal end and an end effector at the distal end of the surgical instrument; and
a telemanipulation control system;
wherein the surgical instrument extends through the guide tube; and
wherein, in response to signals generated by the control system, the first flexible portion of the guide tube changes an orientation of the end effector while the second flexible portion of the guide tube remains substantially rigid. - View Dependent Claims (34)
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35. A surgical apparatus comprising:
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a first primary guide tube, wherein the first primary guide tube comprises a first flexible portion and a second flexible portion, and wherein the first flexible portion of the first primary guide tube is at a distal end of the first primary guide tube;
a second primary guide tube, wherein the second primary guide tube comprises a first flexible portion and a second flexible portion, and wherein the first flexible portion of the second primary guide tube is at a distal end of the second primary guide tube;
a secondary guide tube, wherein the first and the second primary guide tubes extend lengthwise through the secondary guide tube;
a first surgical instrument that extends lengthwise through the first primary guide tube, wherein a distal end effector of the first surgical instrument extends beyond the distal end of the first primary guide tube;
a second surgical instrument that extends lengthwise through the second primary guide tube, wherein a distal end effector of the second surgical instrument extends beyond the distal end of the second primary guide tube;
wherein the first flexible portion of the first primary guide tube actively changes an orientation of the end effector of the first surgical instrument; and
wherein the first flexible portion of the second primary guide tube actively changes an orientation of the end effector of the second surgical instrument.
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36. A surgical apparatus comprising:
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a guide tube comprising an actively flexible distal portion; and
a surgical instrument comprising a passively flexible distal portion and an end effector at the distal end of the passively flexible distal portion;
wherein the surgical instrument extends through the guide tube such that the passively flexible distal portion of the surgical instrument is generally aligned with the actively flexible distal portion of the guide tube, and such that the end effector is beyond the actively flexible distal portion of the guide tube. - View Dependent Claims (37, 38)
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Specification