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CURVED CANNULA

  • US 20110071541A1
  • Filed: 11/13/2009
  • Published: 03/24/2011
  • Est. Priority Date: 09/23/2009
  • Status: Abandoned Application
First Claim
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1. A surgical system comprising:

  • a first robotic manipulator, a first curved cannula coupled to the first robotic manipulator, and a first surgical instrument comprising a flexible shaft that extends through the first curved cannula, wherein the first robotic manipulator is configured to move the first cannula around a first center of motion;

    a second robotic manipulator, a second curved cannula coupled to the second robotic manipulator, and a second surgical instrument comprising a flexible shaft that extends through the second curved cannula, wherein the second robotic manipulator is configured to move the second cannula around a second center of motion;

    wherein the first and second centers of motion are positioned proximate to one another; and

    wherein distal ends of the first and second curved cannulas are oriented to direct the distal ends of the first and second surgical instruments towards a surgical site.

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