摘要:
A surgical system includes an instrument driver having a distal end positionable in a body cavity and a user input device. The instrument driver and user input device are positioned to removably receive distal and proximal portions, respectively, of a surgical instrument. The user input device is configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument. At least one motor operable to actuate the instrument driver in response to the movement signals and to thereby change position of the distal portion of the surgical instrument within the body cavity.
摘要:
An instrument port for a single instrument comprises an elongate tube having a lumen. The elongate tube has a rigid section of fixed shape, and a more distal deflectable section. An actuator is coupled to the rigid section of the elongate tube. The actuator has an instrument pathway in communication with the lumen of the tube. The instrument pathway is positioned such that a distal end of a medical instrument may be inserted through the instrument pathway and the lumen and out the distal end of the lumen into a body cavity. Manipulation of the instrument handle engages actuation elements that extend between the actuator and the deflectable section, causing movement of deflectable section and thus moving the instrument tip within the body. The port includes a mount that can be coupled to a stabilization arm within the operating room, allowing the port to be supported and maintained in a chosen position and orientation.
摘要:
Methods and devices are provided for accessing a body cavity. In general, a surgical access device is provided that can include a retractor that forms a working channel through tissue, a seal housing for sealing the working channel and/or forming a seal around an instrument inserted therethrough, and a flexible suspension member that is configured to suspend the seal housing within the body cavity or allow the seal housing to extend beyond the distal end of the retractor.
摘要:
A control system for a minimally invasive surgical system. In one aspect the control system is a distributed system. A control and transform processor receives data from a master arm controller, an instrument controller, an imaging system controller, and a guide tube controller and distributes data received from one controller to the other controllers. The other controllers use the received data, along with received optimization goals, to control associated slave arms in a distributed but coordinated way. In another aspect, the control system is centralized, in which a motion coordinator receives master inputs, sensor inputs from the slave arms, and optimization inputs. The motion coordinator uses the received inputs to output control signals to an instrument, an imaging system, and a guide tube controller.
摘要:
An endoscopic surgery apparatus is provided, including a tubular member, a handle located on a proximal end of the tubular member, and one or more pivotable arms detachably connected to a distal end of the tubular member. The tubular member has channels along its longitudinal axis, wherein at least one of the channels is an optical channel and at least one other channel is an illumination channel. The arms have guiding channels adapted to receive surgical tools, which direct the surgical tools. The arms are interchangeable with other arms of different configurations. Also, said arms have an open and a closed position, such that when the arms are in the closed position an opening is defined allowing viewing of a surgical site via the optical channel.
摘要:
A surgical access device (100,200,300,400) is disclosed herein. The surgical access device (100,200,300,400) includes a housing (110,210,310,410) adapted for insertion into an incision in tissue ("T" ) and at least one inflatable portion (130,230,240,250,330,430) disposed on the housing (110,210,310,410). The housing (110,210,310,410) defines a proximal end (112,212,312,412) and a distal end (114,214,314,414) and has a lumen (116,216,316,416) extending therethrough for the reception of a surgical access portal ("S1","S2"). The at least one inflatable portion (130,230,240,250,330,430) has a deflated state and an inflated state and the housing (110,210,310,410) is insertable into the incision in tissue ("T") when the at least one inflatable portion (130,230,240,250,330,430) is in the deflated state. The housing (110,210,310,410) is adapted to form a substantially fluid tight seal with the incision in tissue ("T") and with a surgical access portal ("S1","S2") inserted therethrough when the at least one inflatable portion (130,230,240,250,330,430) is in the inflated state.
摘要:
A minimal invasive neurosurgery assembly (20) including a flush assembly (50)having flush assembly main part (52) with a central passage (58) extending through the main part from the distal end to the proximal end along a longitudinal axis, and having at least one tool insertion assembly (70). The tool insertion assembly may include a tool handling part (72) that is detachably connectable to the flush assembly main part and that has at least one tool insertion channel (90) that extends from the distal end to the proximal end of the tool handling part. The tool insertion assembly may also include an inner sheath (96) that is connected to the tool handling part and has an inner sheath wall and at least one lumen extending parallel to the longitudinal axis and in which an associated one of the at least one tool insertion channel emanates. The inner sheath may be insertable through the central passage (58) of the flush assembly main part.
摘要:
A laparoscopic port assembly includes a cannula unit including three cannulas each extending at an acute angle relative to a base. The cannulas are flexible for receiving respective angulated laparoscopic instruments. The cannula unit is rotatingly received in a port holder for rotation about a longitudinal axis of the holder, the holder being disposable in an opening in a patient's skin.