Mechanized multi-instrument surgical system

摘要

A surgical system includes an instrument driver having a distal end positionable in a body cavity and a user input device. The instrument driver and user input device are positioned to removably receive distal and proximal portions, respectively, of a surgical instrument. The user input device is configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument. At least one motor operable to actuate the instrument driver in response to the movement signals and to thereby change position of the distal portion of the surgical instrument within the body cavity.

主权项

1. A method of performing surgery, comprising:
inserting a distal end of an instrument driver through an incision in a body wall into a body cavity, the instrument driver comprising a steerable finger having a lumen; removably inserting a distal portion of a surgical instrument in contact with the instrument driver by inserting the surgical instrument through the lumen, and removably positioning a proximal portion of the surgical instrument in contact with a user input device; manually manipulating the proximal portion of the surgical instrument to cause the user input device to generate movement signals corresponding to movement of the proximal portion of the surgical instrument; and operating a motor in response to the movement signals to move the instrument driver within the body cavity and to thereby reposition the distal portion of the surgical instrument within the body cavity, wherein operating the motor tensions an actuation element anchored to the finger so as to deflect the finger within the body cavity.