Mechanical manipulator for surgical instruments

A mechanical teleoperated surgical device for surgical procedure, the device comprising:

• a support tube having a distal region and a proximal region;
• a slave unit disposed at the distal region of the support tube, the slave unit comprising:
• a plurality of slave links interconnected by a plurality of slave joints;
• a plurality of slave driven pulleys coupled to the plurality of slave joints, each of the plurality of slave driven pulleys configured to actuate a degree of freedom;
• and
• a plurality of slave actuation pulleys configured to actuate the plurality of slave driven pulleys;
• an end-effector connected to a distal end of the slave unit;
• a master unit disposed at the proximal region of the support tube, the master unit comprising:
• a plurality of master links interconnected by a plurality of master joints;
• a plurality of master driven pulleys coupled to the plurality of master joints, each of the plurality of master driven pulleys configured to actuate a degree of freedom and connected to each of the plurality of slave driven pulleys configured to actuate a same degree of freedom;
• and
• a plurality of master actuation pulleys configured to actuate the plurality of master driven pulleys, the plurality of master actuation pulleys directly connected to the plurality of slave acutation pulleys;
• a handle connected to the master unit for operating the mechanical teleoperated surgical device;
• a cable driven transmission system coupled between the slave unit and the master unit, the cable driven transmission system comprising a plurality of cables, each of the plurality of cables coupling the plurality of master and slave actuation pulleys and respective plurality of master and slave driven pulleys such that contact force applied on the handle transmits motion between the slave and master units via the cable driven transmission system to move the end-effector at a predetermined selected ratio relative to movement at the handle responsive to the contact force applied thereon;
• and
• an external positioning mechanism coupled to the support tube and configured to provide the support tube movement in four degrees-of-freedom about an incision point.