Minimally invasive surgical system

摘要

The distal end of a surgical instrument is movable in all six Cartesian degrees of freedom independently of other components of a telemanipulated surgical system. The surgical instrument extends trough a guide tube. The distal end is moved by actuators that are telemanipulatively controlled.

主权项

1. A surgical apparatus comprising:
a robotic manipulator arm comprising a distal end; a platform mounted at the distal end of the robotic manipulator arm; a first actuator assembly mounted on the platform, the first actuator assembly comprising a plurality of telemanipulation actuators, the plurality of telemanipulation actuators comprising one or more motors; a guide tube comprising a distal end; a surgical instrument comprising a transmission mechanism and a distal portion, part of the surgical instrument being inserted through the guide tube so that the distal portion of the surgical instrument is beyond the distal end of the guide tube, the surgical instrument being removably mounted on the first actuator assembly, the transmission mechanism being configured to mate with the plurality of telemanipulation actuators and to transmit actuation forces from the plurality of telemanipulation actuators to the distal portion of the surgical instrument to move the distal portion of the surgical instrument with at least five of six Cartesian degrees of freedom independently of movement of the guide tube; a stereoscopic imaging system comprising an image capture component, wherein the stereoscopic imaging system extends through the guide tube so that the image capture component is beyond the distal end of the guide tube; and a second actuator assembly mounted on the platform, the second actuator assembly comprising a second plurality of telemanipulation actuators, wherein when the second plurality of telemanipulation actuators is mated with the stereoscopic imaging system, the second plurality of telemanipulation actuators moves the image capture component with two or more Cartesian degrees of freedom; wherein the two or more Cartesian degrees of freedom of the image capture component are independent of the degrees of freedom of the guide tube.