초록 ▼

A robotic system that moves a surgical instrument in response to the actuation of a foot pedal that can be operated by the foot of a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assemb

A robotic system that moves a surgical instrument in response to the actuation of a foot pedal that can be operated by the foot of a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assembly which can move the endoscope relative to the patient. The system includes a computer which controls the movement of the robotic arm in response to input signals received from the foot pedal.

대표청구항 ▼

[ What is claimed is:] [1.] A system for allowing a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, the system comprising:an articulate arm having an end effector for holding the surgical instrument, and an actua

[ What is claimed is:] [1.] A system for allowing a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, the system comprising:an articulate arm having an end effector for holding the surgical instrument, and an actuator for moving said end effector, said articulate arm further having a passive joint located between said end effector and said actuator, said articulate arm for pivoting the surgical instrument about the pivot point;a first input device for receiving an input command from the surgeon;a controller for receiving said input command, for computing a movement of said articulate arm based on said input command, and for providing an output command to actuate said active joint and for moving the surgical instrument about the pivot point.