Robotic system, docking station, and surgical tool for collaborative control in minimally invasive surgery
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United States of America Patent
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Dec 4, 2001
Grant Date -
N/A
app pub date -
Dec 8, 1998
filing date -
Dec 8, 1998
priority date (Note) -
Expired
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Abstract
A robotic system for minimally invasive surgery includes a surgical tool and a docking station for restraining movement of the surgical tool to four degrees of freedom about an incision point in a patient. The docking station includes a plurality of actuators for moving the surgical tool relative to the incision in the patient, and a controller operably connected to the actuators so that movement of the surgical tool may be collaboratively controllable both actively by the controller and manually by a surgeon. Desirably, the surgical tool and the docking station are releasably attachable together. Also disclosed is a computer implemented method employing a first docking station attachable to a suturing surgical tool and a second docking station attachable to gripping surgical tool for autonomously tying a knot in suturing.
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