Hydraulic system for surgical applications

A surgical system comprising:

• one or more surgical tools configured to be powered by saline hydraulic fluid;
• a saline hydraulic pressure system fluidly connected to the one or more surgical tools, the saline hydraulic pressure system configured to pressurize the saline hydraulic fluid, the saline hydraulic pressure system comprising:
• a cassette assembly having:
• a cassette housing;
• a first saline hydraulic fluid chamber positioned at least partially within the cassette housing and in selective fluid communication with one or more of the one or more surgical tools;
• a plurality of fluid ports positioned on the cassette housing;
• and
• one or more valves located in or on the cassette housing;
• a first saline hydraulic pressure source fluidly coupled with the first saline hydraulic fluid chamber, the first saline hydraulic pressure source having a compression stroke in which the first saline hydraulic pressure source increases the pressure of the saline hydraulic fluid within the first saline hydraulic fluid chamber and an expansion stroke in which the first saline hydraulic pressure source decreases the pressure of the saline hydraulic fluid within the first saline hydraulic fluid chamber;
• one or more valves positioned in a fluid path between the one or more surgical tools and the first saline hydraulic fluid chamber, the one or more valves configured to selectively close and open fluid communication between the one or more surgical tools and the first saline hydraulic fluid chamber;
• and
• one or more saline hydraulic fluid sources in selective fluid communication with one or more of the first saline hydraulic pressure source and the second saline hydraulic pressure source.

Medical apparatus comprising:

• a surgical device;
• a saline hydraulic system providing saline hydraulic power to said surgical device, the saline hydraulic system comprising:
• a saline hydraulic fluid source, and
• a cassette assembly having a plurality of external fluid ports, one or more saline hydraulic pressure chambers, and a plurality of valves positioned on one or more fluid paths fluidly connecting the external fluid ports to the one or more saline hydraulic pressure chambers, the saline hydraulic fluid source being in fluid communication with the one or more saline hydraulic pressure chambers via one or more of the external fluid ports;
• and
• an electromagnetic tracking device.

Medical apparatus comprising:

• a surgical device;
• a saline hydraulic system providing saline hydraulic power to said surgical device, the saline hydraulic system comprising:
• a saline hydraulic fluid source, and
• a cassette assembly having a plurality of external fluid ports, one or more saline hydraulic pressure chambers, and a plurality of valves positioned on one or more fluid paths fluidly connecting the external fluid ports to the one or more saline hydraulic pressure chambers, the saline hydraulic fluid source being in fluid communication with the one or more saline hydraulic pressure chambers via one or more of the external fluid ports;
• and
• one or more cameras for providing a view of an area in the body.

A method of tracking a surgical device, the method comprising:

• providing a surgical device;
• operably connecting the surgical device to a saline hydraulic system, the saline hydraulic system comprising:
• a saline hydraulic fluid source, and
• a cassette assembly having a plurality of external fluid ports, one or more saline hydraulic pressure chambers, and a plurality of valves positioned on one or more fluid paths fluidly connecting the external fluid ports to the one or more saline hydraulic pressure chambers, the saline hydraulic fluid source being in fluid communication with and providing saline hydraulic fluid to the one or more saline hydraulic pressure chambers via one or more of the external fluid ports;
• pressurizing the saline hydraulic fluid;
• tracking the surgical device using one or more of a camera and an electromagnetic tracking device.