SURGICAL INSTRUMENT CONTROL AND ACTUATION
First Claim
Patent Images
1. An apparatus comprising:
- a guide tube;
a first instrument comprising a first elongate body and a first transmission mechanism at a proximal end of the first elongate body, wherein the first transmission mechanism is coupled to move a component at a distal end of the first instrument, and wherein the first transmission mechanism comprises a wedge shape;
a second instrument comprising a second elongate body and a second transmission mechanism at a proximal end of the second elongate body, wherein the second transmission mechanism is coupled to move a component at a distal end of the second instrument, and wherein the second transmission mechanism comprises a wedge shape;
wherein the wedge shape of the first transmission mechanism and the wedge shape of the second transmission mechanism each comprise a vertex edge;
wherein the vertex edges of the wedge shapes of the first and the second transmission mechanisms are oriented towards an extended centerline of the guide tube; and
wherein the first and the second elongate bodies extend through the guide tube.
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Abstract
Two or more telemanipulated surgical instruments are inserted through a guide tube. Each instrument has a transmission mechanism that transmits actuating forces from actuators to components of the instrument. The transmission mechanisms are arranged around an extended centerline of the guide tube and are wedge-shaped so that they can be positioned more closely to the extended centerline.
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Citations
28 Claims
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1. An apparatus comprising:
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a guide tube;
a first instrument comprising a first elongate body and a first transmission mechanism at a proximal end of the first elongate body, wherein the first transmission mechanism is coupled to move a component at a distal end of the first instrument, and wherein the first transmission mechanism comprises a wedge shape;
a second instrument comprising a second elongate body and a second transmission mechanism at a proximal end of the second elongate body, wherein the second transmission mechanism is coupled to move a component at a distal end of the second instrument, and wherein the second transmission mechanism comprises a wedge shape;
wherein the wedge shape of the first transmission mechanism and the wedge shape of the second transmission mechanism each comprise a vertex edge;
wherein the vertex edges of the wedge shapes of the first and the second transmission mechanisms are oriented towards an extended centerline of the guide tube; and
wherein the first and the second elongate bodies extend through the guide tube. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9-17. -17. (canceled)
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18. An apparatus comprising:
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a telemanipulation actuator assembly;
a surgical instrument; and
an endoscopic imaging system;
wherein the surgical instrument and the endoscopic imaging system are interchangeably mountable on the actuator assembly. - View Dependent Claims (20, 21, 22, 23)
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19. A method comprising:
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sensing if a surgical instrument or an imaging system is mounted on a telemanipulation actuator assembly;
manipulating the surgical instrument with the actuator assembly in an instrument control mode if the instrument is mounted on the actuator assembly; and
manipulating the imaging system with the actuator assembly in a camera control mode if the imaging system is mounted on the actuator assembly.
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24. A surgical instrument comprising:
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a transmission mechanism comprising a wedge shape, the wedge shape comprising a vertex edge; and
an elongate instrument body comprising a proximal end;
a distal end, and a longitudinal axis defined between the proximal end and the distal end, wherein the instrument body is coupled to the transmission mechanism such that the longitudinal axis is generally parallel to the vertex edge. - View Dependent Claims (25, 26, 27, 28)
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Specification