Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.
申请公布号
EP2037794(A2)
申请公布日期
2009.03.25
申请号
EP20070798487
申请日期
2007.06.13
申请人
INTUITIVE SURGICAL, INC.
发明人
LARKIN, DAVID Q.;COOPER, THOMAS G.;DUVAL, EUGENE F.;MCGROGAN, ANTHONY;MOHR, CATHERINE J.;ROSA, DAVID J.;SCHENA, BRUCE M.;SHAFER, DAVID C.;WILLIAMS, MATTHEW R.