Systems and Methods For Proximal Control Of A Surgical Instrument
AssigneeIntuitive Surgical Operations, Inc.
InventorsThomas Grosvenor Cooper, David Joseph Rosa, David Quentin Larkin
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Abstract
A robotic surgical system comprises an instrument chassis having a proximal mounting section and a distal mounting section. The system also comprises an instrument guide movably coupled to the distal mounting section and an actuator coupled to the proximal mounting section. A linkage system operably interconnects the actuator and the instrument guide to transmit motion from the actuator to the instrument guide.
Claims28
A robotic surgical system comprising:
- an instrument chassis having a proximal mounting section and a distal mounting section;
- an instrument guide movably coupled to the distal mounting section;
- an actuator coupled to the proximal mounting section;
- and
- a linkage system operably interconnecting the actuator and the instrument guide to transmit motion from the actuator to the instrument guide.
A robotic surgical method comprising:
- providing an instrument chassis having a proximal mounting section and a distal mounting section, an instrument guide assembly movably coupled to the distal mounting section, a pair of proximal actuators coupled to the proximal mounting section, and a linkage system operably interconnecting the actuators and the instrument guide assembly;
- providing first control signals to one of the proximal actuators to cause the linkage system to move the instrument guide assembly in a first rotational degree of freedom;
- and
- providing second control signals to the other one of the proximal actuators to cause the linkage system to move the instrument guide assembly in a second rotational degree of freedom.
A robotic surgical system comprising:
- an instrument chassis assembly having a proximal mounting section and a distal mounting section and including an instrument interface coupled to the proximal mounting section;
- an actuation system coupled to the proximal mounting section;
- a linkage system operably coupled between the actuation system and the distal mounting section and including an instrument guide;
- and
- a surgical instrument configured to couple with the instrument interface and the instrument guide.
A teleoperational surgical system comprising:
- an instrument chassis;
- a first instrument interface adapted to receive a proximal portion of a first surgical instrument;
- a second instrument interface adapted to receive a proximal portion of a second surgical instrument;
- a first interface actuation system coupled between the instrument chassis and the first instrument interface, the first interface actuation system configured to move the first instrument interface in at least two degrees of freedom;
- and
- a second interface actuation system coupled between the instrument chassis and the second instrument interface, the second interface actuation system configured to move the second instrument interface in at least two degrees of freedom.
Dependencies are inferred from the claim text.