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Surgical instrument control and actuation

  • US 9,320,416 B2
  • Filed: 01/30/2013
  • Issued: 04/26/2016
  • Est. Priority Date: 06/13/2006
  • Status: Active Grant
First Claim
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1. A method comprising:

  • sensing, by a control system, if either a surgical instrument assembly or an imaging system is mounted on a telemanipulation actuator assembly, wherein the surgical instrument assembly and the imaging system are interchangeably mountable on the telemanipulation actuator assembly, the telemanipulation actuator assembly comprising one or more motors,the surgical instrument assembly including a first transmission mechanism, a body tube, and an end effector, a body of the first transmission mechanism being couplable to and decouplable from the telemanipulation actuator assembly, the body tube having a proximal end and a distal end, the proximal end of the body tube being coupled to the body of the first transmission mechanism, and the end effector being coupled to the distal end of the body tube,the imagining system comprising a second transmission mechanism,the first transmission mechanism and the second transmission mechanism each comprising a wedge shape, the wedge shape of the first transmission mechanism and the wedge shape of the second transmission mechanism each comprising a vertex edge, the vertex edge of the wedge shape of the first transmission mechanism being oriented along and adjacent an extended centerline of a guide tube when the surgical instrument assembly is mounted on the telemanipulation actuator assembly, and the vertex edge of the wedge shape of the second transmission mechanism being oriented along and adjacent the extended centerline of the guide tube when the imaging system is mounted on the telemanipulation actuator assembly;

    manipulating, by the control system, the surgical instrument assembly with the telemanipulation actuator assembly in an instrument control mode if the sensing indicates that the surgical instrument assembly is mounted on the telemanipulation actuator assembly; and

    manipulating, by the control system, the imaging system with the telemanipulation actuator assembly in a camera control mode if the sensing indicates that the imaging system is mounted on the telemanipulation actuator assembly, the camera control mode being different from the instrument control mode.

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