Abstract: A surgical instrument end effector apparatus that includes a pair of jaws, a first pivot for supporting one of the jaws, a link member connected to one of the jaws, and a second pivot for supporting the link member. The link member has a first unlocked position in which one jaw member is opened relative to the other jaw member, and a second locked position in which one jaw member is locked closed relative to the other jaw member.

Abstract: A system and associated method for delivering to an internal body site a selected one of a plurality of instruments including fluid-dispensing instruments. An instrument storage chamber is providing having passages for separately accommodating the plurality of instruments. An outlet guide tube couples from the instrument storage chamber and receives a selected one of these instruments for delivery to an internal operative site. An indexing mechanism is provided associated with the chamber for causing relative displacement between the instruments and the outlet guide tube. An instrument driver displaces the registered instrument from the chamber into the outlet guide tube for delivery to the internal operative site.

Abstract: A master station of a master/slave surgery system, adapted to be manually manipulated by a surgeon to, in turn, control motion at a slave station at which is disposed a surgical instrument in response to the surgeon manipulation, the master station comprising: a lower positioner assembly; upper positioner assembly supported over the lower positioner assembly and rotational relative to the lower positioner assembly to enable lateral side-to-side surgeon manipulation; and an arm assembly having a hard assembly at its distal end for engagement by the surgeon's hand, and a proximal end pivotally supported from the upper positioner assembly to enable an orthogonal forward-and-back surgeon manipulation in a direction substantially orthogonal to the lateral surgeon manipulation.

Abstract: An articulated apparatus is disclosed that includes a first link member, a second link member, and a third link member. The second link member is coupled to the first link member at a proximal end of the second link member by a first joint having a first axis of rotation. The third link member is coupled to a distal end of the second link member by a second joint. The movement of the third link member with respect to the second link member is governed by at least one tendon that passes through the first axis of rotation of the first joint such that movement of the second member with respect to the first member does not cause movement of the third member with respect to the second member.

Abstract: A system and associated method for delivering to an internal body site a selected one of a plurality of instruments. An instrument storage chamber is providing having passages for separately accommodating a plurality of instruments. An outlet guide tube couples from the instrument storage chamber and receives a selected one of these instruments for delivery to an internal operative site. An indexing mechanism is provided associated with the chamber for causing relative displacement between the instruments and the outlet guide tube. An instrument driver displaces the registered instrument from the chamber into the outlet guide tube for delivery to the internal operative site.

Abstract: A surgical instrument system that is adapted to be inserted through an incision of a patient for operation by a surgeon from outside the patient, the system comprising: an arm member having a proximal end disposed outside the patient and a distal end internal of the patient; a support for the arm member that provides controlled translation of the arm member with the proximal end thereof moving substantially only in a predetermined plane; and an instrument member carried by the arm member and including a tool disposed at the distal end of the arm member.

Abstract: A program of instructions for the processor which include: receiving an insertion length of a medical instrument inserted in a patient; and determining a distal end location of the instrument at a target site in the patient from the insertion length. The instrument typically has a straight proximal portion and curved distal portion, lies in a single plane and is a rigid guide member. The instrument is typically inserted and then fixed at a pivot axis outside the patient. The pivot axis is generally aligned with an insertion point at which the instrument is inserted into the patient. The program of instructions may include determining a subsequent location of the distal end associated with pivoting about the pivot axis.

Abstract: A portable remotely controllable surgical instrument comprising: a manually portable elongated shaft having a proximal end and a distal end manually positionable at an operative site within a subject upon insertion of the shaft through an incision in the subject; a manually portable mounting mechanism being readily manually mountable in a fixed position outside the patient near the incision, the proximal end of the portable shaft being mounted thereon. The instrument may include a portable drive unit drivably intercoupled through the mounting mechanism to a tool mounted at the distal end of the portable shaft; wherein the drive unit is readily positionable at a selected position outside the patient.

Abstract: A disposable surgical instrument apparatus comprising: a disposable elongated tube having a tool mounted at a distal end of the tube; one or more disposable cables drivably interconnected between the tool and a drive unit, the one or more disposable cables extending through the disposable tube between the tool and a proximal end of the disposable tube. The apparatus typically include a disposable mechanically drivable interface mounted at a proximal end of the disposable tube, the tool being drivably intercoupled to a drive unit via the disposable mechanically drivable interface.

Abstract: A robotic surgery apparatus comprising: a surgical instrument for use at an internal operative site of a subject; a mechanically drivable mounting unit on which the surgical instrument is mounted, the mounting unit being drivably movable outside the operative site of the subject; an electrically driven drive unit for driving movement of the mounting unit; mechanical cabling drivably intercoupled to the mounting unit at one end of the cabling; the mechanical cabling having another end which is readily drivably couplable to and decouplable from the drive unit. The drive unit being readily manually portable and readily attachable to and detachable from a fixed support on or relative to which the subject is mounted.

Abstract: A medical procedure instrument comprising: an instrument holder including an elongated guide member for receiving an instrument insert that carries at its distal end a medical tool for executing a medical procedure at a target site within a patient; the instrument holder being readily manually insertable through an incision into a patient so as to dispose a distal end of the guide member at the target site at which the procedure is to be executed; a support for holding said instrument holder fixed in position relative to the patient, the medical tool being guided to the target site upon receipt of the instrument insert by the instrument holder. The instrument holder is held in fixed position in an incision in the patient between changes of instrument inserts during the course of a procedure such that trauma or damage which can result from withdrawal and re-insertion of another or the same instrument is minimized or eliminated.

Abstract: Apparatus and method for sensing at an anatomic body site and mapping or transforming the sensor signal into various forms of virtual image and feedback signals, having particular application in assisting surgeons and other operators during a medical procedure. In one embodiment, a medical system is provided that includes a medical implement, a manipulator controllable by an operator for control of the medical implement at an anatomic body site and a sensing device for sensing a non-visible field associated with a body structure at the site. A controller, intercoupling the sensing device and the manipulator, includes a mapping component for translating characteristics of the sensed field signal into a tactile feedback signal to the manipulator to warn the surgeon that he is approaching this structure with the implement.

Abstract: An articulated apparatus is disclosed that includes a first link member, a second link member, and a third link member. The second link member is coupled to the first link member at a proximal end of the second link member by a first joint having a first axis of rotation. The third link member is coupled to a distal end of the second link member by a second joint. The movement of the third link member with respect to the second link member is governed by at least one tendon that passes through the first axis of rotation of the first joint such that movement of the second member with respect to the first member does not cause movement of the third member with respect to the second member.

Abstract: A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.

Abstract: A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.

Abstract: A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.

Abstract: A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.

Abstract: A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.

Abstract: A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.

Abstract: A surgical instrument end effector apparatus that includes a pair of jaws, a first pivot for supporting one of the jaws, a link member connected to one of the jaws, and a second pivot for supporting the link member. The link member has a first unlocked position in which one jaw member is opened relative to the other jaw member, and a second locked position in which one jaw member is locked closed relative to the other jaw member.