CURVED CANNULAS AND ROBOTIC MANIPULATORS

摘要

PROBLEM TO BE SOLVED: To provide suitable curved cannulas and robotic manipulators.SOLUTION: A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. A teleoperation control system is disclosed that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control. The flexible shaft instruments are controlled as if extending along a virtual straight line insertion and withdrawal axis. Various port features are disclosed that support the curved cannulas within a single opening. Cannula support fixtures are disclosed that support the cannulas during insertion into the single opening and mounting on robotic manipulators.