Patent ID: 7204844
Filing Date: 2007-04-17
Classification: A61B,B25J,Y10T

Abstract:
1. A surgical system comprising: a surgical instrument assembly including an instrument having an elongate member with a proximal end, a distal end, a longitudinal centerline therebetween and an end effector coupled to the distal end, and including an instrument holder supporting the instrument, the instrument holder comprising a least two of engageable drive coupling elements; at least the distal end and end effector of the surgical instrument being sterilizable and configured to be insertable through a percutaneous incision in the body of the patient to a target site within to body; and a manipulator assembly including a actuator drive for manipulating the instrument holder and the surgical instrument therewith, the actuator drive configured to removably couple to the engageable coupling elements of the instrument holder of the instrument assembly so as to transfer at least two motion actuations from the actuator drive to the instrument.