Abstract: Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.

Abstract: A force transmission transmits a force received by an input gimbal plate having two degrees of freedom to an output gimbal plate. The input gimbal plate is coupled to a first end of least three lever arms supported by a pivot. The output gimbal plate is coupled to a second end of the lever arms. The output gimbal plate may be coupled to the lever arms by flexible cables. The cables may be substantially contained within a tube. The output gimbal plate may be substantially smaller than the input gimbal plate. The force transmission may include a secondary output gimbal plate coupled to secondary levers that are coupled to the lever arms. The secondary levers may be third class levers. The secondary output gimbal plate may move proportionately to movement of the output gimbal plate. The force transmission may control a surgical end effector in a robotic surgical instrument.

Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is not coincident with the first axis. Third and fourth links of the linkage are coupled to limit motion of the fourth link to rotation about a third axis intersecting the remote center of manipulation. The third axis is not coincident with either of the first and second axes. Various combinations of hardware-constrained remote center of motion robotic manipulators with redundant mechanical degrees of freedom are disclosed.

Abstract: A minimally invasive surgical instrument includes a U-turn mechanism that transmits actuating forces around a U-turn. The U-turn mechanism is coupled between segments of the instrument and has a bend radius that is smaller than flexible arms having a similar cross section diameter. The actuating forces transmitted by the U-turn mechanism are used to move distal components of the instrument, such as an end effector and a wrist mechanism.

Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

Abstract: A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.

Abstract: Actuator elements such as cables or push rods in an instrument are used for manipulating an end effector or distal end of the instrument. Each actuator element extends within a tubular housing and either the tubular housing is axially rotated about the actuator element or the actuator element is axially rotated within the tubular housing to reduce at least one force opposing an axial force exerted through or movement of the actuator element.

Abstract: Actuator elements such as cables or push rods in an instrument are used for manipulating an end effector or distal end of the instrument. Each actuator element extends within a tubular housing and either the tubular housing is axially rotated about the actuator element or the actuator element is axially rotated within the tubular housing to reduce at least one force opposing an axial force exerted through or movement of the actuator element.

Abstract: Actuator elements such as cables or push rods in an instrument are used for manipulating an end effector or distal end of the instrument. Each actuator element extends within a tubular housing and either the tubular housing is axially rotated about the actuator element or the actuator element is axially rotated within the tubular housing to reduce at least one force opposing an axial force exerted through or movement of the actuator element.

Abstract: A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.

Abstract: A minimally invasive surgical instrument includes a U-turn mechanism that transmits actuating forces around a U-turn. The U-turn mechanism is coupled between segments of the instrument and has a bend radius that is smaller than flexible arms having a similar cross section diameter. The actuating forces transmitted by the U-turn mechanism are used to move distal components of the instrument, such as an end effector and a wrist mechanism.

Abstract: Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.

Abstract: A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.

Abstract: A minimally invasive surgical instrument includes a U-turn mechanism that transmits actuating forces around a U-turn. The U-turn mechanism is coupled between segments of the instrument and has a bend radius that is smaller than flexible arms having a similar cross section diameter. The actuating forces transmitted by the U-turn mechanism are used to move distal components of the instrument, such as an end effector and a wrist mechanism.

Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

Abstract: Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.

Abstract: Robotic surgical systems are provided. In one embodiment, the system includes a setup link for locating a remote center of motion for the robotic surgical system; a manipulator arm assembly including an active proximal link and an active distal link, the proximal link operably coupled to the setup link; and a plurality of instrument manipulators operably coupled to a distal end of the distal link, the plurality of instrument manipulators rotatable about an instrument manipulator assembly roll axis. A cannula mount is movably coupled to a proximal end of the distal link, and a cannula is coupled to the cannula mount, the cannula having a longitudinal axis substantially coincident with the instrument manipulator assembly roll axis. The system further includes an entry guide tube at least partially within the cannula, the entry guide tube rotatable about the longitudinal axis of the cannula.

Abstract: A sterile drape, a surgical system with the drape, and a draping method are provided. In one embodiment, a sterile drape includes a plurality of drape pockets, each of the drape pockets including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system. The drape further includes a plurality of flexible membranes at a distal face of each of the drape pockets for interfacing between outputs of an instrument manipulator and inputs of a respective surgical instrument, and a rotatable seal adapted to couple a proximal opening of each of the drape pockets to a rotatable element at a distal end of the manipulator arm.

Abstract: A force transmission transmits a force received by an input gimbal plate having two degrees of freedom to an output gimbal plate. The input gimbal plate is coupled to a first end of least three lever arms supported by a pivot. The output gimbal plate is coupled to a second end of the lever arms. The output gimbal plate may be coupled to the lever arms by flexible cables. The cables may be substantially contained within a tube. The output gimbal plate may be substantially smaller than the input gimbal plate. The force transmission may include a secondary output gimbal plate coupled to secondary levers that are coupled to the lever arms. The secondary levers may be third class levers. The secondary output gimbal plate may move proportionately to movement of the output gimbal plate. The force transmission may control a surgical end effector in a robotic surgical instrument.

Abstract: A counterbalancing link, a surgical system, and a method of adjusting a counterbalancing link are provided. In one embodiment, a counterbalancing link of a robotic surgical system includes a housing, and a compression spring disposed along a lengthwise axis of the housing, the compression spring having a first end and a second end. The counterbalancing link further includes a base at a first end of the housing, the base coupled to the first end of the compression spring and including at least one adjustment screw configured to adjust an orientation of the first end of the spring. A plug is disposed at a second end of the housing, the plug coupled to the second end of the compression spring and including an adjustment pin configured to adjust an orientation of the second end of the spring.