Minimally invasive surgical system
First Claim
Patent Images
1. A patient side surgical system comprising:
- a base configured to move on a floor of a surgical theater;
an arm having a plurality of degrees of freedom, the arm being connected to the base;
a platform coupled to the arm;
a guide tube having a proximal end and a distal end, the proximal end of the guide tube being coupled to the platform, the distal end of the guide tube being oriented away from the platform, the guide tube having a plurality of channels;
a teleoperated first flexible guide tube extending from the distal end of a first channel of the plurality of channels of the guide tube and coupled to a first manipulator assembly mounted on the platform;
a first surgical instrument comprising a distal end component, the distal end component of the first surgical instrument extending out of the teleoperated first flexible guide tube, the teleoperated first flexible guide tube being configured to move the distal end component of the first surgical instrument in at least two degrees of freedom;
a teleoperated second flexible guide tube extending from the distal end of a second channel of the plurality of channels of the guide tube and coupled to a second manipulator assembly mounted on the platform;
a second surgical instrument comprising a distal end component, the distal end component of the second surgical instrument extending out of the teleoperated second flexible guide tube, the teleoperated second flexible guide tube being configured to move the distal end component of the second surgical instrument in at least two degrees of freedom; and
a third surgical instrument comprising a rigid shaft, an image capture component, and a joint coupled between the image capture component and the shaft, the image capture component and a distal portion of the rigid shaft extending out of a third channel of the plurality of channels of the guide tube, the image capture component being configured to capture an image that includes the distal end component of the first surgical instrument and the distal end component of the second surgical instrument.
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Accused Products
Abstract
The distal end of a surgical instrument is movable in all six Cartesian degrees of freedom independently of other components of a telemanipulated surgical system. The surgical instrument extends through a guide tube. The distal end is moved by actuators that are telemanipulatively controlled.
295 Citations
12 Claims
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1. A patient side surgical system comprising:
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a base configured to move on a floor of a surgical theater; an arm having a plurality of degrees of freedom, the arm being connected to the base; a platform coupled to the arm; a guide tube having a proximal end and a distal end, the proximal end of the guide tube being coupled to the platform, the distal end of the guide tube being oriented away from the platform, the guide tube having a plurality of channels; a teleoperated first flexible guide tube extending from the distal end of a first channel of the plurality of channels of the guide tube and coupled to a first manipulator assembly mounted on the platform; a first surgical instrument comprising a distal end component, the distal end component of the first surgical instrument extending out of the teleoperated first flexible guide tube, the teleoperated first flexible guide tube being configured to move the distal end component of the first surgical instrument in at least two degrees of freedom; a teleoperated second flexible guide tube extending from the distal end of a second channel of the plurality of channels of the guide tube and coupled to a second manipulator assembly mounted on the platform; a second surgical instrument comprising a distal end component, the distal end component of the second surgical instrument extending out of the teleoperated second flexible guide tube, the teleoperated second flexible guide tube being configured to move the distal end component of the second surgical instrument in at least two degrees of freedom; and a third surgical instrument comprising a rigid shaft, an image capture component, and a joint coupled between the image capture component and the shaft, the image capture component and a distal portion of the rigid shaft extending out of a third channel of the plurality of channels of the guide tube, the image capture component being configured to capture an image that includes the distal end component of the first surgical instrument and the distal end component of the second surgical instrument. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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Specification