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Minimally invasive surgical system

  • US 9,801,526 B2
  • Filed: 05/07/2012
  • Issued: 10/31/2017
  • Est. Priority Date: 06/13/2006
  • Status: Active Grant
First Claim
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1. A method comprising:

  • advancing a distal end of a straight first rigid surgical instrument body tube through a first channel of a guide tube, the distal end of the first rigid surgical instrument body tube being coupled to an end component, wherein as the distal end of the first rigid surgical instrument body tube advances through the guide tube, a portion of the first rigid surgical instrument body tube proximal to and outside the guide tube is resiliently bent; and

    advancing a second straight rigid surgical instrument body tube of a second surgical instrument through a second channel of the guide tube, a portion of the second rigid surgical instrument body tube proximal to and outside the guide tube being resiliently bent, the guide tube being coupled to a platform, each of the first and second surgical instruments being coupled to the platform by a different teleoperated manipulator assembly, and the platform being coupled to a robotic manipulator arm of a patient side support system.

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