Abstract: A robotic surgical system includes a robotic arm, a surgical instrument, a surgical portal, and a linear slide mechanism. The linear slide mechanism is coupled to the robotic arm and is configured to movably support the surgical portal relative to the surgical instrument. The linear mechanism can support a movable carriage and a movable rail positioned to translate relative to moveable carriage to enable a surgical instrument to move relative to movable carriage.

Abstract: A robotic surgical system includes an instrument drive unit, a surgical instrument drivingly coupled to the instrument drive unit, and a carriage for supporting the instrument drive unit and the attached surgical instrument. The carriage includes a drive assembly that drives a rotation of the surgical instrument about a longitudinal axis defined by the surgical instrument. The carriage further includes a locking assembly configured to selectively fix the surgical instrument in a rotational orientation.

Abstract: A computer assisted, minimally invasive method and apparatus for surgically removing abnormal tissue from a patient, for example, from a breast, are disclosed. The method involves imaging of the breast to locate the abnormal tissue, and determining a volume encapsulating the abnormal tissue and including a margin of healthy tissue. Based on the volume, a sequence of movements of a surgical instrument for tissue removal device is planned, so as to predictably excise the desired volume of tissue.