Patent ID: 8231610

Claim:
A robotic surgical system for performing a surgical procedure on a patient, comprising: a master manipulator installed at a control station to be manipulated by an operator; a plurality of slave robotic units for conducting the surgical procedure; a control system for electrically associating the master manipulator with the slave robotic units to allow each of the slave robotic units to be remotely controlled by the associated master manipulator; and a display for viewing the surgical procedure, wherein said each of the slave robotic units includes: a forearm uniquely provided to said each of the slave robotic units; a surgical instrument for being inserted to a surgical site of the patient, the surgical instrument being held by the forearm and including a rod and an end tip tool pivotably connected to one end of the rod; a yaw driving mechanism for moving the rod of the surgical instrument in a yaw direction, the yaw driving mechanism including a wrist coupled to the forearm and rotationally driven in the yaw direction; a pitch driving mechanism for moving the rod of the surgical instrument in a pitch direction, the pitch driving mechanism including a semicircular rack gear guide supported by the wrist and further including a carriage movably mounted on the semicircular rack gear guide; a linear driving mechanism for linearly moving the rod of the surgical instrument, the linear driving mechanism being disposed on the carriage; a rotational driving mechanism for rotating the rod of the surgical instrument about a longitudinal axis of the rod, the rotational driving mechanism being disposed on the carriage; and a pivotal mechanism for allowing the rod of the surgical instrument to be freely pivoted, the pivotal mechanism being disposed on the carriage.