Side looking minimally invasive surgery instrument assembly
Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.
1. A method comprising:
extending a U-turn mechanism of a first surgical instrument from a distal end of a guide tube to move the first surgical instrument into a field of view of an image capture component, the field of view of the image capture component being positioned generally perpendicular to a longitudinal axis of the guide tube, the U-turn mechanism including a constant fixed U-shaped portion, the U-shaped portion having a first end and a second end, the first end and second end of the U-shaped portion being ends of the U-shape, the first surgical instrument including a shaft, a joint, and an end effector, the first end of the U-shaped portion being coupled to the shaft, the joint being coupled between the second end of the U-shaped portion and the end effector;
extending a second surgical instrument from the guide tube toward the field of view, the second surgical instrument extending from the guide tube generally parallel to a longitudinal axis of the guide tube; and
moving a flexible segment of the guide tube,
wherein the flexible segment is between the distal end of the guide tube and an intermediate portion of the guide, and
wherein the flexible segment is proximal to a location where the image capture component is positioned on the guide tube.
2. The method of claim 1 , further comprising:
moving a rigid segment of the first surgical instrument.
3. The method of claim 1 , further comprising:
transmitting forces through the U-turn mechanism;
wherein the forces actuate the end effector of the first surgical instrument.
4. The method of claim 1 , further comprising:
moving a flexible segment of the second surgical instrument.
5. The method of claim 1 , further comprising:
moving a rigid segment of the second surgical instrument.
6. The method of claim 1 , further comprising:
moving a parallel motion mechanism of the second surgical instrument, wherein the parallel motion mechanism comprises:
a first joint connected to a body of the second surgical instrument,
an elongate rigid body segment connected to the first joint, and
a second joint connected to the body segment and coupled to an end component of the second surgical instrument,
wherein the first and second joints are coupled by cables, and wherein the moving the parallel motion mechanism heaves and sways the end component with reference to a longitudinal axis of the body of the second surgical instrument without changing pitch and yaw of the end component.
7. The method of claim 1 , further comprising:
orienting a field of view of a second image capture component positioned on the guide tube to be generally parallel to the longitudinal axis of the guide tube.
8. The method of claim 1 :
wherein extending the U-turn mechanism of the first surgical instrument comprises moving the end effector of the first surgical instrument into the field of view.
9. The method of claim 1 :
wherein extending the second surgical instrument comprises moving a component at a distal end of the second surgical instrument into the field of view.
10. The method of claim 1 , the extending the second surgical instrument from the guide tube being extending the second surgical instrument from an intermediate portion of the guide tube, the guide tube having a proximal end and a distal end, the intermediate portion of the guide tube being between the proximal end and the distal end of the guide tube.