MINIMALLY INVASIVE SURGICAL INSTRUMENT SYSTEM
Two or more minimally invasive surgical instruments are assembled in a magazine A first one of the instruments is inserted into and withdrawn from a guide tube, and then a second one of the surgical instruments is inserted into the guide tube in place of the first one of the instruments. Several magazines may be used, each magazine being configured with all instruments necessary to perform different surgical procedures.
1 . A minimally invasive surgical system comprising:
a guide tube;
a magazine comprising a plurality of surgical instruments;
an actuator mechanism coupled to move one or more components of the magazine; and
a control system for the actuator mechanism;
wherein signals from the control system cause the actuator mechanism to withdraw a first one of the surgical instruments from the guide tube and to advance a second one of the surgical instruments through the guide tube.
2 . The surgical system of claim 1:
wherein the plurality of surgical instruments are mounted around a single axis in the magazine.
3 . The surgical system of claim 1:
wherein each surgical instrument is mounted around a unique axis in the magazine.
4 . The surgical system of claim 1 further comprising:
a first end effector at the end of the first one of the surgical instruments; and
a second end effector at the end of the second one of the surgical instruments;
wherein the magazine comprises a first actuator that moves the first end effector and a second actuator that moves the second end effector.
5 . The surgical system of claim 1:
wherein the magazine comprises all surgical instruments required for a first surgical procedure;
wherein the magazine can be replaced with a second magazine that comprises all surgical instruments required for a second surgical procedure; and
wherein the first and second surgical procedures require different surgical instruments.
6 . A method comprising:
withdrawing a first surgical instrument from a guide tube in response to a first command from a control system, wherein the first surgical instrument is one of a plurality of surgical instruments stored in a magazine; and
advancing a second surgical instrument stored in the magazine into the guide tube in response to a second command from the control system, wherein the second surgical instrument is another one of the plurality of surgical instruments stored in the magazine.
7 . The method of claim 6 further comprising:
moving the magazine from a first position at which the first instrument is withdrawn to a second position at which the second instrument is advanced;
wherein the magazine is moved in response a third command from the control system.
8 . The method of claim 6 further comprising:
moving an end effector positioned at a distal end of the first instrument by operating an actuator mechanism in the magazine in response to a third command from the control system.
9 . A method comprising:
mounting a first magazine in a minimally invasive surgical system, wherein the first magazine comprises a first plurality of interchangeable surgical instruments;
replacing the mounted first magazine with a second magazine, wherein the second magazine comprises a second plurality of interchangeable surgical instruments.
10 . A minimally invasive surgical system comprising:
a guide tube;
a first magazine comprising a first plurality of surgical instruments required for a first surgical procedure and a second magazine comprising a second plurality of surgical instruments required for a second surgical procedure, wherein the first and the second magazines are interchangeable in the surgical system, and wherein the first and the second surgical procedures require different surgical instruments;
an actuator mechanism coupled to move one or more components of the first or the second magazine mounted in the surgical system; and
a control system for the actuator mechanism;
wherein signals from the control system cause the actuator mechanism to withdraw a first one of the mounted magazine's surgical instruments from the guide tube and to advance a second one of the mounted magazine's surgical instruments through the guide tube.
11 . The surgical system of claim 10:
wherein the first plurality of surgical instruments are mounted around a single axis in the first magazine.
12 . The surgical system of claim 10:
wherein each surgical instrument is mounted around a unique axis in the first magazine.
13 . The surgical system of claim 10 further comprising:
a first end effector at the end of the first one of the surgical instruments in the first magazine; and
a second end effector at the end of the second one of the surgical instruments in the first magazine;
wherein the first magazine comprises a first actuator that moves the first end effector and a second actuator that moves the second end effector.
14 . The surgical system of claim 1:
wherein each of the plurality of surgical instruments comprises a flexible body portion.
15 . The surgical system of claim 1:
wherein tissue manipulation capability of at least one of the surgical instruments consists of a single grip degree of freedom.
16 . The surgical system of claim 10:
wherein each of the first plurality of surgical instruments comprises a flexible body portion.
17 . The surgical system of claim 10:
wherein tissue manipulation capability of at least one of the first plurality of surgical instruments consists of a single grip degree of freedom.