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System and method for releasably holding a surgical instrument

  • US 6,461,372 B1
  • Filed: 03/08/2000
  • Issued: 10/08/2002
  • Est. Priority Date: 06/07/1995
  • Status: Expired due to Term
First Claim
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1. A surgical method comprising:

  • releasably coupling a surgical instrument to an instrument holder, the surgical instrument comprising an elongate shaft with proximal and distal ends, a longitudinal axis therebetween, and an end effector on the distal end;

    locking the instrument to the instrument holder;

    coupling a drive assembly of a manipulator to the surgical instrument with the holder;

    manipulating the instrument holder and the surgical instrument with the manipulator; and

    transferring at least two motion actuations from the drive assembly to the surgical instrument with the holder, the motion actuations including rotation of the instrument about the longitudinal axis and actuation of the end effector.

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