Theodore W. Rogers,John Ryan Steger,Charles E. Swinehart
申请号：
US12618631
公开号：
US08465476B2
申请日:
2009.11.13
申请国别(地区):
US
年份:
2013
代理人:
摘要：
A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patients 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.
