Patent ID: 9603672
Date: 2017-03-28
CPC Classifications: A61B

Claim:
1. A motorized surgical system, comprising: at least one support having a distal portion positionable within a sterile field in proximity to a patient positioned on a surgical table; an instrument driver carried by the distal portion of said at least one support, the instrument driver comprising a steerable finger having a steerable distal end positionable in a body cavity, the distal end configured to removably receive a surgical instrument, the steerable finger including a lumen proportioned to receive a distal portion of a surgical instrument; least one actuation element extends at least partially through the finger; a user input device carried by the distal portion of said at least one support, the user input device configured to generate movement signals in response to manual manipulation of a portion of the user input device by a user; at least one steering motor operably coupled to the instrument driver, the steering motor operable in response to the movement signals to cause tensioning of the actuation element so as to deflect the steerable distal end of the finger in response to the movement signals; at least one roll driver carried by the distal portion of said at least one support, the roll driver positioned to rotationally couple with a shaft of a surgical instrument that is positioned through the lumen, a roll input device carried by the support, the roll input device configured to generate roll signals in response to manual manipulation of the roll input device; and a roll motor, the roll motor operably coupled to the roll driver, the roll motor operable to move the roll driver in response to the roll movement signals to cause axial rolling of at least a portion of the shaft of a surgical instrument that is rotationally coupled with the roll driver.