Patent ID: 7155316

Claim:
Apparatus for use in micro-surgery and stereotactic surgical procedures on a patient comprising: an imaging system for obtaining a three dimensional internal image through a selected part of the body of the patient; a robot for operating on a part of a patient, the robot including: a movable support assembly arranged to be located in fixed position adjacent a patient; two movable arms each carried on the support assembly; each arm having a plurality of degrees of freedom of movement; each arm having an end effector for carrying a selected surgical tool for operation on the patient; each end effector including force sensors for detecting forces applied to the tool by engagement with the part of the patient; a microscope arranged to be located at a position for viewing the part of the patient; and a workstation and control system including: a pair of hand-controller simultaneously manipulated by an operator to control movement of a respective one or both of the arms; each hand-controller having force feedback arranged to be controlled in response to the detected forces for providing haptic effect to the operator such that the hand-controllers can control the arms in effecting micro-surgery; a first display for displaying at least one first image obtained from the microscope; a second display for displaying a second image obtained from the imaging system of the part of the patient and for displaying on the second image the real-time location of the tool such that the tool can be guided in stereotaxy.