Surgical system entry guide
First Claim
1. A method comprising:
- rotating a plurality of instrument manipulators of a surgical system as a group around a roll axis, the surgical system includinga cannula,an entry guide positioned within the cannula, anda surgical instrument coupled to a corresponding instrument manipulator of the plurality of instrument manipulators, the surgical instrument including an instrument shaft positioned in the entry guide; and
rotatably driving, by the surgical system, the entry guide within the cannula by moving the instrument shaft around the roll axis.
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Accused Products
Abstract
An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.
251 Citations
5 Claims
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1. A method comprising:
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rotating a plurality of instrument manipulators of a surgical system as a group around a roll axis, the surgical system including a cannula, an entry guide positioned within the cannula, and a surgical instrument coupled to a corresponding instrument manipulator of the plurality of instrument manipulators, the surgical instrument including an instrument shaft positioned in the entry guide; and rotatably driving, by the surgical system, the entry guide within the cannula by moving the instrument shaft around the roll axis. - View Dependent Claims (2, 3, 4, 5)
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Specification