MECHANIZED MULTI-INSTRUMENT SURGICAL SYSTEM
6 Assignments
0 Petitions
Accused Products
Abstract
A surgical system includes an instrument driver having a distal end positionable in a body cavity and a user input device. The instrument driver and user input device are positioned to removably receive distal and proximal portions, respectively, of a surgical instrument. The user input device is configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument. At least one motor operable to actuate the instrument driver in response to the movement signals and to thereby change position of the distal portion of the surgical instrument within the body cavity.
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Citations
94 Claims
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1-43. -43. (canceled)
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44. A method of performing surgery, comprising:
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inserting a distal end of an instrument driver through an incision in a body wall into a body cavity; removably positioning a distal portion of a surgical instrument in contact with the instrument driver and removably positioning a proximal portion of the surgical instrument in contact with a user input device; manually manipulating the proximal portion of the surgical instrument to cause the user input device to generate movement signals corresponding to movement of the proximal portion of the surgical instrument; and operating a motor in response to the movement signals to move the instrument driver within the body cavity and to thereby reposition the distal portion of the surgical instrument within the body cavity. - View Dependent Claims (45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 89, 90, 91, 92, 93, 94)
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45-1. The method of claim 89, wherein:
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the input device is provided to include a base and an instrument receiver on the base, manually manipulating the proximal portion of the surgical instrument includes manually moving the instrument receiver relative to the base in at least two degrees of freedom to generate the movement signals; the step of operating a motor includes selectively operating at least two motors in response to the movement signals to deflect the finger in at least two degrees of freedom, operation of each such motor tensioning at least one actuation element anchored to the finger.
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62-88. -88. (canceled)
Specification