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US 2011/0238081 A1Published application
Surgical instrument control and actuation
AssigneeIntuitive Surgical Operations, Inc.
InventorsThomas G. COOPER, Anthony K. McGrogan
Life of this patent
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Abstract
Two or more telemanipulated surgical instruments are inserted through a guide tube. Each instrument has a transmission mechanism that transmits actuating forces from actuators to components of the instrument. The transmission mechanisms are arranged around an extended centerline of the guide tube and are wedge-shaped so that they can be positioned more closely to the extended centerline.
Claims7
1-17. (canceled)
An apparatus comprising:
- a telemanipulation actuator assembly;
- a surgical instrument;
- and
- an endoscopic imaging system;
- wherein the surgical instrument and the endoscopic imaging system are interchangeably mountable on the actuator assembly.
2 more elements
A method comprising:
- sensing if a surgical instrument or an imaging system is mounted on a telemanipulation actuator assembly;
- manipulating the surgical instrument with the actuator assembly in an instrument control mode if the instrument is mounted on the actuator assembly;
- and
- manipulating the imaging system with the actuator assembly in a camera control mode if the imaging system is mounted on the actuator assembly.
1 more element
Dependencies are inferred from the claim text.