초록 ▼

For positioning a surgical instrument at a surgical site, an elongate tubular structure is coupled to the distal portion of a robotic arm. This structure is adapted to be inserted in the body cavity of a patient and is adapted to receive the surgical instrument and serve as a guide for the surgical

For positioning a surgical instrument at a surgical site, an elongate tubular structure is coupled to the distal portion of a robotic arm. This structure is adapted to be inserted in the body cavity of a patient and is adapted to receive the surgical instrument and serve as a guide for the surgical instrument into the patient's body. The robotic arm may have a parallelogram center of motion linkage and actuators for driving various degrees of freedom of movement of the arm and the surgical instrument. The robotic arm may be remotely controlled by an operator manipulating an input device.

대표청구항 ▼

[ What is claimed is:] [1.] A surgical manipulator for moving an instrumentabout a desired spherical center of rotation at a desired fixed location along the instrument, the manipulator comprising:a base support adapted to be fixedly mounted to a surface;a first linkage, including at least a first r

[ What is claimed is:] [1.] A surgical manipulator for moving an instrumentabout a desired spherical center of rotation at a desired fixed location along the instrument, the manipulator comprising:a base support adapted to be fixedly mounted to a surface;a first linkage, including at least a first rod, pivotally mounted on the base support for rotation about a first axis;an instrument holder having a longitudinal second axis wherein the instrument is held parallel to the second axis, such that the desired remote center of spherical rotation of the instrument is at the intersection of the first and second axes;a second linkage having a proximal end and a distal end, including at least a second rod, the proximal end of the second linkage being pivotally connected to the first linkage and the distal end of the second linkage being pivotally connected to the instrument holder for moving the instrument holder in a parallel plane relationship to the first linkage such that the spherical center of rotation is maintained at the desired fixed location; andan instrument drive unit coupled to the instrument holder, the instrument drive unit controlling movement of the instrument relative to the spherical center of rotation, the instrument drive unit comprising a linear actuator for reciprocating the instrument in a direction parallel to the second axis;the instrument drive unit further comprising a first drive coupled to the instrument holder, the first drive having an actuator for rotating the instrument about the second axis, said instrument having an end effector for interacting with a surgical site;wherein the instrument drive unit further comprises a second drive coupled to the instrument holder for actuating the end effector about a third axis.