发明名称 Cannula mounting fixture
摘要 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. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. The support fixtures include arms that swing in an arc to insert a curved cannula, repositionable arms coupled to a stable cannula base, and an insertion cap that holds a cannula. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
申请公布号 US8465476(B2) 申请公布日期 2013.06.18
申请号 US20090618631 申请日期 2009.11.13
申请人 ROGERS THEODORE W.;STEGER JOHN RYAN;SWINEHART CHARLES E.;INTUITIVE SURGICAL OPERATIONS, INC. 发明人 ROGERS THEODORE W.;STEGER JOHN RYAN;SWINEHART CHARLES E.
分类号 A61B17/00 主分类号 A61B17/00
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