Resiliently deformable tool guide for use in minimally invasive telesurgical system
A tool guide for guiding an end effector of a robotically controlled surgical instrument from a position outside a patient body to a position in close proximity to an internal surgical site within the patient body is provided. The tool guide typically comprises a body, a seat formation on the body, the seat formation being arranged to seat in an aperture leading into the patient body so as to mount the tool guide on the patient body, and a sheath formation on the body. The sheath formation typically defines a longitudinally extending internal passage, an inlet leading into the passage and an outlet leading from the passage. The sheath formation is arranged to cooperate with the seat formation such that when the seat formation is seated in the aperture, the outlet of the sheath formation can be positioned in close proximity to the internal surgical site thereby to enable the end effector to be guided to a position in close proximity to the surgical site by passing it through the inlet, along the passage and out from the outlet, so as to emerge from the outlet at the position in close proximity to the internal surgical site.
1 - 17 . (canceled)
18 . A minimally invasive telesurgical system, comprising:
a robotic arm assembly having an engaging formation;
a tool guide mountable on a patient and having a sheath formation extending through an aperture in the patient, the tool guide made of resiliently deformable material adapted at a proximal end to receive the engaging formation;
an instrument coupled to the robotic arm assembly and having a shaft with an end effector inserted through the engaging formation so that the end effector extends out of a distal end of the tool guide; and
a control station having a master control device operatively connected to the robotic arm assembly and the end effector.
19 . The minimally invasive telesurgical system according to claim 18 , wherein the engaging formation has a tubular shape.
20 . The minimally invasive telesurgical system according to claim 18 , wherein the resiliently deformable material is a bio-compatible material.
21 . The minimally invasive telesurgical system according to claim 18 , wherein the resiliently deformable material is such that when the end effector is not inserted through the tool guide, the sheath formation is capable of deforming resiliently in sympathy with pressures exerted within a patient body.
22 . A tool guide for use with a minimally invasive telesurgical system, comprising:
a seat formation arranged to seat in a aperture leading into the patient; and
a sheath formation arranged to extend through the aperture and made of resiliently deformable, bio-compatible material adapted at a proximal end to receive an engaging formation of a robotic arm assembly and an instrument inserted through the engaging formation.