Abstract: A surgical access port comprises a seal and an instrument guide, which comprises proximal and distal ends, a plurality of instrument guide channels, and an outside surface that fits closely to an inner wall surface of a cannula into which the instrument guide is inserted. The seal is positioned to seal between the instrument guide and the inner wall surface as the instrument guide rotates within the cannula. A first guide channel is configured to support a first surgical instrument at a first defined position within the cannula. A second guide channel is configured to support a second surgical instrument at a second defined position within the cannula. A first guide channel opening is defined along a length of the first guide channel to be open to the outside surface of the instrument guide and place a portion of the first surgical instrument adjacent the inner wall surface.

Abstract: A surgical system comprises an instrument and a teleoperated instrument operation system. The instrument comprises a drive member having an end effector coupled to the distal end and a ratchet assembly coupled to the proximal end. The ratchet assembly includes a pin, a gear, and a spring- loaded button. A lever is coupled to and configured to pivot relative to the ratchet assembly to engage the spring-loaded button to disengage the pin from the gear. The lever in a first position places the ratchet assembly in a gripping position in which the end effector grips a surgical accessory. The lever in a second position places the ratchet assembly in a release position in which the end effector releases the surgical accessory. The lever is movable while compressing the spring-loaded button. The teleoperated instrument operation system comprises a capture mechanism configured to move the lever between the first and second positions.

Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

Abstract: In one embodiment of the invention, a link of a counter balanced arm is disclosed including, a hollow housing with a cylindrical cavity having an open end and a closed end with a small opening to allow cables to pass through; a first pivotal joint near the closed end of the hollow housing; a second pivotal join near the open end of the hollow housing; a compressible spring assembly received through the open end by the cylindrical cavity of the hollow housing; and a plug coupled to the open end of the cylindrical cavity of the hollow housing.

Abstract: A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.

Abstract: An instrument manipulator may comprise a frame comprising an outer shell and an inner frame, the inner frame being movably coupled to the outer shell. The instrument manipulator may also include a plurality of actuator outputs protruding in a distal direction from the frame and an instrument support feature coupled to the outer shell. The instrument manipulator may further comprise a latching mechanism, the latching mechanism being configured to move the inner frame, the outer shell, or both relative to one another, so as to operably engage the plurality of actuator outputs with a plurality of actuator inputs of an instrument supported by the instrument support feature.

Abstract: A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft (262A1) of at least one (260A1) of the surgical instruments be bent between the base of the surgical instrument (260A1) and the point where the shaft contacts a channel in an entry guide (270A). Each surgical instrument (260A1, 260A2) is positioned by an instrument manipulator positioning system (231A) so that when the shaft is inserted in a channel of the entry guide (270A), any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

Abstract: A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.

Abstract: A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

Abstract: In one embodiment of the invention, a strap drive-train for use in a robotic arm to enable movement of a linkage assembly of the robotic arm is provided. The linkage assembly includes a plurality of links pivotally coupled in series together at a plurality of joints, respectively, for movement of the robotic arm about a pitch axis. The strap drive-train includes a first driver pulley rigidly coupled to a link of the plurality of links and a second driver pulley rigidly coupled to another link of the plurality of links. The electro-mechanical strap stack includes at least one of a ground strap and an electrical cable strap in a stacked configuration with a drive strap, wherein the electro-mechanical strap stack is connected between the first driver pulley and the second driver pulley through a middle link.

Abstract: A surgical end effector includes a clevis and two jaws rotatably coupled to the clevis. A rocking pin in the form of a solid of revolution is pivotally supported by the clevis. The rocking pin may be pivotally supported by the clevis at the midpoint between the first and second ends. The opposite ends of the rocking pin engage the jaws to constrain the jaws to have opposite motions around the axes of rotation of the jaws. The clevis may be coupled to an elongate shaft to provide an endoscopic instrument. The first and second jaws may electrically isolated from one another for electrocautery and the rocking pin may be formed from a non-conductive material or electrically isolated from the first and second jaws by electrically non-conductive liners. The jaws may be opened and closed by pushing and pulling on wires coupled to the jaws.

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: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

Abstract: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument includes an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector.

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: In one embodiment, a method is disclosed for a robotic arm. The method includes pitching a linkage assembly having a plurality of links coupled in series together to constrain movement of a tool along an insertion axis; and enabling movement of the linkage assembly about a pitch axis with a strap drive-train coupled thereto using an electro-mechanical strap stack routed between a first link and a second link. The electro-mechanical strap stack includes a drive strap coupled to the linkage. The drive strap moves the linkage assembly.