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Method and apparatus for performing minimally invasive cardiac procedures

  • US 5,762,458 A
  • Filed: 02/20/1996
  • Issued: 06/09/1998
  • Est. Priority Date: 02/20/1996
  • Status: Expired due to Term
First Claim
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1. A medical robotic system that can be inserted through a first incision of a patient and controlled by a surgeon, comprising:

  • a first articulate arm which has a passive joint that is coupled to a first end effector inserted into the incision, wherein the incision defines a first pivot point for said first end effector;

    a first input device that creates a first input command in response to an instruction from the surgeon; and

    ,a controller that is coupled to said first input device and said first articulate arm, said controller receives said first input command from said first input device and provides a first output command to said first articulate arm to move said first end effector relative to the first pivot point.

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