초록 ▼

Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatib

Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

대표청구항 ▼

1. A minimally invasive surgical instrument comprisinga shaft having a working end; an end effector mounting formation positioned at the working end of the shaft and arranged to be angularly displaceable about at least two axes; elongate elements connected to the end effector mounting formation to c

1. A minimally invasive surgical instrument comprisinga shaft having a working end; an end effector mounting formation positioned at the working end of the shaft and arranged to be angularly displaceable about at least two axes; elongate elements connected to the end effector mounting formation to cause selective pivotal movement of the end effector mounting formation about the axes in response to selective pulling of the elongate elements; a support base positioned on an opposed end of the shaft; and at least three spools angularly displaceably mounted on the support base and to which opposed ends of the elongate elements are connected so that selective angular displacement of the spools causes the selective pulling of the elongate elements, the spools having axes which are parallel and spaced apart relative to each other.