Patent ID: 8123675

Claim:
A robotic device for use in surgery, the device comprising: a first surgical instrument having a proximal end, a distal end, and a shaft extending therebetween, the distal end of the first instrument and adjacent shaft being insertable distally into a first incision; a computer-controlled first manipulator movably supporting the first instrument; a plurality of motorized drives coupled to the manipulator; an input device having an input movable in two degrees of freedom, wherein the input device is incorporated on the first surgical instrument to enable a user to input one or more instructions to the device while concurrently manipulating the first surgical instrument; and a computer coupling the input device to the motorized drives so that the motorized drives effect a motion of the first surgical instrument in response to movement of the input, a center of the motion located along the shaft at the incision when the first instrument is used during surgery; wherein the robotic device constrains lateral movement of the shaft of the first instrument to pivotal movement about the incision so as to inhibit inadvertent enlargement of the incision.