| 摘要 |
<p>This invention is a system (10) for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robot arms (16, 18). The instruments (22, 24) have end effectors that can be manipulated to hold and suture tissue. The robotistic arms are coupled to a pair of master handles (50, 52) by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position.</p> |
