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US 9,801,526 B2Granted
Minimally invasive surgical system
AssigneeIntuitive Surgical Operations, Inc.
InventorsDavid Q. Larkin, Thomas G. Cooper, Catherine Mohr
Life of this patent
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Abstract
A surgical instrument is inserted through a guide tube. A telemanipulation system moves the distal end of the surgical instrument in all six Cartesian degrees of freedom independently of any guide tube movements.
Claims17
A method comprising:
- advancing a distal end of a straight first rigid surgical instrument body tube through a first channel of a guide tube, the distal end of the first rigid surgical instrument body tube being coupled to an end component, wherein as the distal end of the first rigid surgical instrument body tube advances through the guide tube, a portion of the first rigid surgical instrument body tube proximal to and outside the guide tube is resiliently bent;
- and
- advancing a second straight rigid surgical instrument body tube of a second surgical instrument through a second channel of the guide tube, a portion of the second rigid surgical instrument body tube proximal to and outside the guide tube being resiliently bent, the guide tube being coupled to a platform, each of the first and second surgical instruments being coupled to the platform by a different teleoperated manipulator assembly, and the platform being coupled to a robotic manipulator arm of a patient side support system.
A method of operating a patient side support system comprising:
- advancing a first distal portion of a first straight rigid surgical instrument body tube of a first surgical instrument through a first channel of a guide tube, with a first proximal portion of the first rigid surgical instrument body tube being resiliently bent between a first transmission mechanism of the first surgical instrument and a proximal end of the guide tube as the first distal portion of the first rigid surgical instrument body tube advances through the first channel of the guide tube;
- wherein the first transmission mechanism is coupled to the first proximal portion of the first rigid surgical instrument body tube;
- wherein a first surgical end effector is coupled to the first distal portion of the first rigid surgical instrument body tube and is coupled to the first transmission mechanism;
- wherein the guide tube is coupled to a platform;
- wherein the first transmission mechanism is coupled to a first teleoperated manipulator assembly of a plurality of teleoperated manipulator assemblies;
- and
- wherein the plurality of teleoperated manipulator assemblies is coupled to the platform;
- and
- wherein the platform is coupled to a robotic manipulator arm of the patient side support system.
6 more elements
Dependencies are inferred from the claim text.