Patient-side mechanized surgical system

A motorized surgical system, comprising:

• at least one support positionable within a sterile field in proximity to a patient positioned on a surgical table;
• an instrument driver carried by the at least one support, the instrument driver having a steerable distal end positionable in a body cavity, the instrument driver comprising a steerable finger having a lumen proportioned to receive a distal portion of a surgical instrument and at least one actuation element extends at least partially through the finger;
• a user input device carried by the at least one support, the user input device configured to generate movement signals in response to manual manipulation of a portion of the user input device by a user;
• and
• at least one steering motor operably coupled to the instrument driver, the steering motor operable in response to the movement signals to cause tensioning of the actuation element so as to deflect the finger;
• at least one roll driver carried by the support, the roll driver positioned to rotationally couple with a shaft of a surgical instrument that is positioned through the lumen,
• a roll input device carried by the support, the roll input device configured to generate roll signals in response to manual manipulation of the roll input device;
• and
• a roll motor, the roll motor operably coupled to the roll driver, the roll motor operable to move the roll driver in response to the roll movement signals, wherein:
• the system includes a base mountable on the support, the steering motor is housed within the base and includes a first drive member exposed on the motor housing, and the roll motor includes a second drive exposed on the motor housing;
• the actuation element of the instrument driver is disposed on at least one pulley, and the instrument driver includes a first driven member rotatable to rotate said at least one pulley;
• the roll driver includes a tubular member having a lumen proportioned to receive a distal shaft portion of a surgical instrument, and a second driven member rotatable to rotate said tubular member;
• and
• the instrument driver and roll driver are removably positionable on the base to rotationally couple the first drive member with the first driven member and to rotationally couple the second drive member with the second driven member.