Patent ID: 8545515
Filing Date: 2013-10-01
Classification: A61B,A61M,Y10T

Abstract:
1. A surgical system comprising: a first robotic manipulator; a first cannula comprising a proximal end, a distal end, and a rigid curved section between the proximal and distal ends, wherein the proximal end of the first cannula is coupled to the first robotic manipulator; a first surgical instrument comprising a flexible shaft that extends through and beyond the distal end of the first cannula; a second robotic manipulator; a second cannula comprising a proximal end, a distal end, and a rigid curved section between the proximal and distal ends, wherein the proximal end of the second cannula is coupled to the second robotic manipulator; and a second surgical instrument comprising a flexible shaft that extends through and beyond the distal end of the second cannula; wherein the first and second cannulas are configured to extend through a single opening in a patient's body such that curved sections of the first and second cannulas are disposed at least in part between the single opening and their distal ends, the curved sections of the first and second cannulas extending away from one another in a direction from the single opening toward their distal ends, and then extending toward one another along the direction to their distal ends; wherein the first robotic manipulator is configured to move the first cannula around a first center of motion, wherein the second robotic manipulator is configured to move the second cannula around a second center of motion, wherein the first and second centers of motion are proximate to one another at the single opening in the patient's body in a position of the first and second cannulas extended through the single opening, and wherein movement of the first and second cannulas by the irrespective associated first and second robotic manipulators around their respective first and second centers of motion is independent of one another.