Patent ID: 11123146

Abstract:
A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient is disclosed and includes an elongate manipulator having a distal end for receiving an end effector and including a plurality of control links extending through the manipulator operable to cause movement of the distal end in response to movement of the control links in a longitudinal direction. An actuator chassis is disposed at a proximal end of the manipulator and includes a plurality of actuators slidingly mounted within the actuator chassis for linear movement in the longitudinal direction. Each actuator is coupled to a control link and adjacently disposed about a curved periphery of the actuator chassis. An outwardly oriented portion couples a drive force to the actuator to cause movement of the control link. A proximate end of the manipulator may be laterally offset to facilitate location of the surgical instrument apparatus closely adjacent to another surgical instrument apparatus. The manipulator may include an unactuated articulated portion disposed between the rigid portion and the chassis.