Multi-component telepresence system and method

A robotic surgical system for performing a procedure within a sterile field comprising:

• a surgical tool;
• a manipulator assembly including a manipulator arm having proximal and distal end portions;
• a sterile drape covering at least the manipulator arm of the manipulator assembly to shield the manipulator arm from the sterile field;
• and
• an adaptor for coupling the distal end portion of the manipulator arm with the surgical tool and transferring at least two degrees of motion from the manipulator assembly to the tool, the adaptor extending through the sterile drape and including one or more electrical connectors for transferring an electrical signal from the manipulator arm to the surgical tool and from the surgical tool to the manipulator arm;
• the tool comprising a surgical instrument, said instrument further comprising a wrist unit having a shaft with a distal wrist coupled to the instrument and a proximal end removably coupled to the adaptor.

A robotic surgical system for performing a procedure within a sterile field comprising:

• a surgical tool;
• a manipulator assembly including a manipulator arm having proximal and distal end portions;
• a sterile drape covering at least the manipulator arm of the manipulator assembly to shield the manipulator arm from the sterile field;
• an adaptor for coupling the distal end portion of the manipulator arm with the surgical tool and transferring at least two degrees of motion from the manipulator assembly to the tool, the adaptor extending through the sterile drape;
• a cannula defining an inner lumen for receiving the surgical tool and providing access through a percutaneous penetration in the patient;
• and
• a sterilizable cannula adaptor extending through the drape and coupling the cannula to the distal end portion of the manipulator arm.

A robotic surgical system for performing a procedure within a sterile field comprising:

• a surgical tool, wherein the surgical tool is an instrument;
• a manipulator assembly including a manipulator arm having proximal and distal end portions;
• a sterile drape covering at least the manipulator arm of the manipulator assembly to shield the manipulator arm from the sterile field;
• an adaptor for coupling the distal end portion of the manipulator arm with the surgical tool and transferring at least two degrees of motion from the manipulator assembly to the tool, the adaptor extending through the sterile drape;
• a wrist unit having a shaft with a distal wrist coupled to the instrument and a proximal end removably coupled to the adaptor;
• and
• means for inhibiting the number of times which the wrist unit can be used in a surgical procedure.

A robotic surgical system for performing a procedure within a sterile field comprising:

• a surgical tool, wherein the surgical tool is an instrument;
• a manipulator assembly including a manipulator arm having proximal and distal end portions;
• a sterile drape covering at least the manipulator arm of the manipulator assembly to shield the manipulator arm from the sterile field;
• an adaptor for coupling the distal end portion of the manipulator arm with the surgical tool and transferring at least two degrees of motion from the manipulator assembly to the tool, the adaptor extending through the sterile drape;
• a wrist unit having a shaft with a distal wrist coupled to the instrument and a proximal end removably coupled to the adaptor;
• and
• a transmission unit coupled to the manipulator arm and covered by the sterile drape, the transmission unit having an axially movable carriage coupled to the adaptor and the wrist unit for axially reciprocating the adaptor, the wrist unit and the instrument.

A telerobotic system for manipulating surgical tools at a surgical site within a sterile field comprising:

• a manipulator assembly including a manipulator arm having proximal and distal end portions;
• a sterile drape covering at least the manipulator arm of the manipulator assembly to shield the manipulator arm from the sterile field;
• an adaptor for coupling the distal end portion of the manipulator arm with the surgical tool and transferring at least two degrees of motion from the manipulator assembly to the tool, the adaptor extending through the sterile drape;
• one or more electrical connectors for transmitting electrical data signals between the controller and the surgical tool through the drape;
• a controller located in a remote position from the manipulator assembly;
• and
• a servomechanism coupling the controller to the manipulator arm for remote control of the manipulator arm.

A method for performing a surgical procedure within a sterile field with a robotic surgical system comprising:

• covering portions of a manipulator arm with a sterile drape to shield the arm from the sterile field;
• attaching a sterile adaptor to a distal end portion of the manipulator arm through the sterile drape;
• releasably coupling a sterile surgical tool to the robotic surgical system by coupling a tubular structure to the robotic surgical system, inserting an elongate shaft of the surgical tool through the tubular structure, and attaching the surgical tool to the adaptor;
• and
• introducing at least a portion of the tubular structure into an aperture in a body wall of the patient and introducing the surgical tool to a target site within the body of the patient.

A method for performing a surgical procedure within a sterile field with a robotic surgical system comprising:

• covering portions of a manipulator arm with a sterile drape to shield the arm from the sterile field;
• attaching a sterile adaptor to a distal end portion of the manipulator arm through the sterile drape;
• attaching a sterile surgical tool to the adaptor;
• introducing the surgical tool to a target site on the patient with the manipulator arm;
• and
• transmitting one or more electrical signals through the adaptor between the manipulator arm and the surgical tool.

A method for performing a surgical procedure within a sterile field with a robotic surgical system comprising:

• covering portions of a manipulator arm with a sterile drape to shield the arm from the sterile field;
• attaching a sterile adaptor to a distal end portion of the manipulator arm through the sterile drape;
• attaching a sterile surgical tool to the adaptor;
• attaching a sterile cannula adaptor through the sterile drape to the distal end portion of the manipulator arm;
• attaching a cannula to the cannula adaptor;
• introducing a surgical instrument through the cannula into a body cavity in the patient;
• and
• introducing the surgical tool to a target site on the patient with the manipulator arm.

A method for performing a surgical procedure within a sterile field with a robotic surgical system comprising:

• covering portions of a manipulator arm with a sterile drape to shield the arm from the sterile field;
• attaching a sterile adaptor to a distal end portion of the manipulator arm through the sterile drape;
• attaching a sterile surgical tool to the adaptor by removably coupling a wrist unit to the adaptor and attaching a surgical instrument to a distal wrist of the wrist unit;
• introducing the surgical tool to a target site on the patient with the manipulator arm;
• and
• limiting a number of times which the wrist unit is used in a surgical procedure.

A method for performing a surgical procedure within a sterile field with a robotic surgical system comprising:

• covering portions of a manipulator arm with a sterile drape to shield the arm from the sterile field;
• attaching a sterile adaptor to a distal end portion of the manipulator arm through the sterile drape by coupling the adaptor to a movable carriage on the manipulator arm, the carriage being covered by the sterile drape;
• attaching a sterile surgical tool to the adaptor;
• introducing the surgical tool to a target site on the patient with the manipulator arm;
• and
• axially moving the carriage to axially move the surgical tool relative to the manipulator arm.