Surgical manipulator for a telerobotic system
First Claim
1. A surgical system comprising:
- an instrument comprising a shaft having proximal and distal ends, an end effector coupled to the distal end, and an end effector actuator coupled to the proximal end for moving the end effector relative to the shaft in at least one degree of freedom;
a drive assembly comprising at least two drives for producing motion; and
an instrument holder configured to releasably hold the instrument, the instrument holder comprising an actuator driver for coupling motion from the drive assembly to the end effector actuator, the instrument holder further configured to be releasably coupled to the drive assembly.
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Accused Products
Abstract
A manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system, comprising an instrument holder (4) movably mounted on a 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 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.
182 Citations
10 Claims
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1. A surgical system comprising:
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an instrument comprising a shaft having proximal and distal ends, an end effector coupled to the distal end, and an end effector actuator coupled to the proximal end for moving the end effector relative to the shaft in at least one degree of freedom; a drive assembly comprising at least two drives for producing motion; and an instrument holder configured to releasably hold the instrument, the instrument holder comprising an actuator driver for coupling motion from the drive assembly to the end effector actuator, the instrument holder further configured to be releasably coupled to the drive assembly. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification