초록 ▼

An automated surgical instrument for performing minimally-invasive surgery comprises a rigid cannula having a lumen for receiving a surgical tool at the distal end thereof. The tool can comprise a variety of linkage-operated tools, such as a grasper, clamp or scissor. The tool can also comprise an o

An automated surgical instrument for performing minimally-invasive surgery comprises a rigid cannula having a lumen for receiving a surgical tool at the distal end thereof. The tool can comprise a variety of linkage-operated tools, such as a grasper, clamp or scissor. The tool can also comprise an optical or gas channel. The cannula is supported on a ball-and-socket-type swivel assembly that pivots freely along orthogonal axes. The swivel is mounted on a movable arm assembly that extends and retracts. The arm assembly is mounted to a base that moves the arm assembly from side to side. Pivoting of the cannula occurs in response to movement of the arm assembly along the base and through extension and retraction of the arm.

대표청구항 ▼

An automated surgical instrument comprising: surgical tool; a rigid cannula constructed and arranged for insertion through an incision in a body of a patient, the cannula having a lumen that receives the surgical tool therein and the cannula being elongated along a first direction; a drive for movin

An automated surgical instrument comprising: surgical tool; a rigid cannula constructed and arranged for insertion through an incision in a body of a patient, the cannula having a lumen that receives the surgical tool therein and the cannula being elongated along a first direction; a drive for moving the cannula along the first direction; an arm having a proximal end and a distal end, the cannula being supported at the distal end, the arm having a second drive to move the cannula along a second direction transverse to the first direction; an arm support located adjacent the proximal end of the arm and a third drive that moves the cannula in a third direction that is transverse to each of the first direction and the second direction; and a swivel assembly having a swivel base mounted at the distal end of the arm and having a pivot member that rotates relative to the swivel base along at least one pivot axis that is aligned with at least one of the second direction and the third direction whereby the cannula pivots about the axis.