Entry guide manipulator with a roll system and an instrument manipulator positioning system
First Claim
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1. A medical device comprising:
- a manipulator system comprising;
a roll system coupled to first and second instrument manipulators, wherein the roll system is configured to roll the first and second instrument manipulators as a group about a longitudinal axis of an entry guide, wherein the first instrument manipulator is couplable to a first instrument, and wherein the second instrument manipulator is couplable to a second instrument; and
an instrument manipulator positioning system coupled to the roll system and coupled to the first and second instrument manipulators, wherein the instrument manipulator positioning system is configured to move at least one of the first and second instrument manipulators to simultaneously align shafts of first and second instruments with different channels in an entry guide.
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Abstract
A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.
59 Citations
18 Claims
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1. A medical device comprising:
a manipulator system comprising; a roll system coupled to first and second instrument manipulators, wherein the roll system is configured to roll the first and second instrument manipulators as a group about a longitudinal axis of an entry guide, wherein the first instrument manipulator is couplable to a first instrument, and wherein the second instrument manipulator is couplable to a second instrument; and an instrument manipulator positioning system coupled to the roll system and coupled to the first and second instrument manipulators, wherein the instrument manipulator positioning system is configured to move at least one of the first and second instrument manipulators to simultaneously align shafts of first and second instruments with different channels in an entry guide. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A medical device comprising:
a manipulator system comprising; a roll system coupled to first and second instrument manipulators, the roll system comprising a roll ring gear, wherein the roll system is configured to roll the first and second instrument manipulators as a group about a longitudinal axis of an entry guide, wherein the first instrument manipulator is couplable to a first instrument, and wherein the second instrument manipulator is couplable to a second instrument; an instrument manipulator positioning system coupled to the roll system and coupled to the first and second instrument manipulators, the instrument manipulator positioning system comprising an adjustment ring gear, wherein the instrument manipulator positioning system is configured to move at least one of the first and second instrument manipulators to simultaneously align shafts of first and second instruments with different channels in an entry guide; and a drive assembly coupled to the roll ring gear and coupled to the adjustment ring gear, wherein the drive assembly is configured to differentially rotate the adjustment ring gear and the roll ring gear to cause the instrument manipulator positioning system to move the or each of the first and second instrument manipulators to simultaneously align shafts of the first and second instruments with the different channels in the entry guide. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
Specification