Patent ID: 8007511

Claim:
A surgical instrument system comprising: an instrument member having an instrument shaft and a distal portion positionable through an incision, formed during a minimally invasive procedure performed on a patient, to an internal site and for operation by a surgeon from outside the patient; a plurality of control cables extending within proximal and distal portions of the instrument shaft; a motor array coupled to the plurality of control cables; a tool carried at the distal portion of the instrument member controlled by the surgeon in performing the minimally invasive procedure at an operative site of the patient by manipulation of at least one control cable; and a wrist member, an elongated rigid forearm member located proximally of the wrist member, and a flexible elbow member located proximally of the elongated rigid forearm member, the wrist member, the elongated rigid forearm member and the flexible elbow member being disposed along the distal portion of the instrument member and controllable with respective control cables, respective distal ends of respective control cables terminating at different respective axial locations within the distal portion of the instrument shaft such that the motor array is operable to drive respective control cables and control movement of the tool, the wrist member, the elongated rigid forearm member and the flexible elbow member, the flexible elbow member being controllably movable with multiple degrees of freedom, the distal portion of the instrument member controllable by the surgeon from outside the patient to pivot and rotate the tool about the wrist member without actuation of the tool, and to pivot the elongated rigid forearm member about the flexible elbow member, wherein the flexible elbow member and the wrist member are spaced apart, separated by the elongated rigid forearm member extending there between, and positioned relative to a distal end of the distal portion so that both the flexible elbow member and the wrist member can be inserted through the incision and into the patient to allow movement of the flexible elbow and wrist members without causing additional trauma to the incision.