Surgical manipulator for a telerobotic system
First Claim
1. A manipulator assembly for holding and manipulating a surgical instrument, the assembly comprising:
- a surgical instrument;
an instrument holder having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder;
a base coupled to a positioning device, the instrument holder movably mounted on the base; and
a force sensing element mounted on the holder for detecting forces exerted on the surgical instrument and providing force feedback to a user of the manipulator assembly.
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Accused Products
Abstract
The invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The assembly comprises a base (6) fixable by passive or power driven positioning devices to a surface, such as an operating table, and an instrument holder (4) movably mounted on the base. The instrument holder comprises a chassis (6) and an instrument support (70) movably mounted on the body and having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder. A drive assembly (7) is operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom. The instrument holder is separable from the base and the drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The assembly is attached to a remote center positioner (300) for constraining the instrument to rotate a point coincident with the entry incision and an inclinometer (350) for preventing gravitational forces acting on the system'"'"'s mechanisms from being felt by the surgeon.
241 Citations
16 Claims
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1. A manipulator assembly for holding and manipulating a surgical instrument, the assembly comprising:
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a surgical instrument; an instrument holder having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder; a base coupled to a positioning device, the instrument holder movably mounted on the base; and a force sensing element mounted on the holder for detecting forces exerted on the surgical instrument and providing force feedback to a user of the manipulator assembly. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of performing a surgical procedure comprising:
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releasably coupling a surgical instrument to a manipulator assembly comprising a plurality of linkages and joints; operatively coupling at least one moveable actuator element of said surgical instrument with a driver on said manipulator assembly; introducing a distal portion of said surgical instrument through a percutaneous penetration into the patient, said distal portion comprising an end effector; articulating said end effector of said surgical instrument relative to said proximal portion and within said patient'"'"'s body; actuating said end effector by displacing said at least one moveable actuator element; sensing forces exerted on the surgical instrument; and transmitting feedback signals to an input device based on the sensed forces on the surgical instrument. - View Dependent Claims (12, 13, 14, 15, 16)
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Specification