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System and method for releasably holding a surgical instrument

  • US 5,810,880 A
  • Filed: 05/01/1997
  • Issued: 09/22/1998
  • Est. Priority Date: 06/07/1995
  • Status: Expired due to Term
First Claim
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1. A surgical system comprising:

  • a surgical instrument comprising an elongate shaft with proximal and distal ends, an end effector on the distal end and a mounting means laterally extending from the shaft intermediate the proximal and distal ends;

    an instrument holder comprising a support having a body with first and second ends;

    an actuator releasably coupled to the instrument shaft for actuating the end effector on the surgical instrument; and

    a device for constraining movement of said instrument about a desired spherical center of rotation at a desired location along said instrument, the device comprising;

    a base;

    a first linkage pivotally mounted on said base for rotation about an axis, said instrument holder holding said instrument in a position so that the desired remote center of spherical rotation along the instrument intersects said axis; and

    a second linkage connected to said instrument holder for moving said instrument holder in a parallel-plane relationship to said second linkage, said second linkage being pivotally connected to said first linkage so that said second linkage remains parallel to said axis and said first linkage remains parallel to the instrument;

    wherein said first and second linkages constrain movement of said instrument, such that said desired location on said instrument remains fixed at said spherical center of rotation.

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