Patent ID: 9662176
Date: 2017-05-30
CPC Classifications: A61B

Claim:
1. A surgical system comprising: an instrument chassis having a proximal chassis portion and a distal chassis portion both positioned along a central axis of the instrument chassis, the distal chassis portion being positioned closer to a patient entry point than the proximal chassis portion during use of the surgical system; a surgical instrument having a rigid shaft with a proximal instrument end and a distal instrument end the rigid shaft defining a central instrument axis, wherein the proximal instrument end is coupled to the proximal chassis portion; an instrument guide member configured to receive the rigid shaft of the surgical instrument and to moveably couple the surgical instrument to a distal bridge member disposed at the distal chassis portion such that the central instrument axis is moveable relative to the central chassis axis; an actuator secured to the proximal chassis portion; and a linkage system operably interconnecting the actuator and the instrument guide member to transmit motion from the actuator to the instrument guide member to reorient the central instrument axis relative to the central chassis axis.