Patent ID: 9345545
Filing Date: 2016-05-24
CPC Classification: A61B

Claim Text:
1. A surgical system, comprising: an instrument driver having a distal end positionable in a body cavity, the instrument driver comprising a steerable finger having a lumen proportioned to receive a distal portion of a surgical instrument; a plurality of actuation elements extending at least partially through the finger; a user input device, wherein the instrument driver and user input device are positioned to removably receive distal and proximal portions, respectively, of a surgical instrument, the user input device configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument; and at least two motors operably coupled to the instrument driver, the motors operable in response to the movement signals to cause tensioning of the actuation elements so as to deflect the finger in at least two degrees of freedom and to thereby change position of the distal portion of the surgical instrument within the body cavity; wherein the input device includes a base and an instrument receiver on the base, the instrument receiver manually moveable relative to the base in at least two degrees of freedom to generate the movement signals.