ROBOTIC DEVICES AND SYSTEMS FOR PERFORMING SINGLE INCISION PROCEDURES AND NATURAL ORIFICE TRANSLUMENAL ENDOSCOPIC SURGICAL PROCEDURES, AND METHODS OF CONFIGURING ROBOTIC DEVICES AND SYSTEMS农业专利-农业专业知识服务系统

摘要：: A surgical system (200) having an end-effector assembly (340), first and second arm assemblies (330,360), and an elbow joint assembly (234). The end-effector assembly (340) includes an instrument assembly (237) and a wrist assembly (236). The instrument assembly (237) includes a first instrument (239,342,344). An first arm assembly (330) includes a body, first and second instrument drive assemblies (332, 334), a wrist drive assembly (336), and a first arm drive assembly (339). The first instrument drive assembly (332) is configurable to move the first instrument (239,342,344) relative to a first axis(A). The wrist drive assembly (336) is configurable to move the instrument assembly (237) relative to a second axis (B). The first arm drive assembly (339) is configurable to rotate the end-effector assembly (340) relative to a third axis (F). An elbow joint assembly (234) includes an elbow pitch joint portion (350') configurable to be driven to move the first arm assembly (330) relative to a fourth axis( C'). The elbow joint assembly (234) also includes an elbow sway joint portion (350) configurable to be driven to move the first arm assembly (330) relative to a fifth axis (C).