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Abstract

A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). The teleoperator system comprises a endoscope surgical instrument suited for endoscopic surgery. The surgical instrument comprises a control servomechanism which operates an insertion section. The insertion section comprises a forearm, a wrist and an end effector. The end effector is a modified surgical instrument such as retractors, electrosurgical cutters, electrosurgical coagulators, forceps, needle holders, scissors, blades and irrigators. The control section contains motors and linkages which operate the insertion section with five or more degrees of freedom. The control section inserts, retracts, pivots and rotates the forearm with four degrees of freedom about axes that all intersect adjacent a small incision through which the insertion section is introduced to the patient. The control section also pivots the wrist with at least one degree of freedom relative to the forearm and operates the end effector. The surgical manipulator provides superior flexibility in performing endoscopic procedures compared to standard rigid endoscopic instruments and is adapted for teleoperator control.

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First Claim