Surgical platform supported and controlled by multiple arms
A surgical module is supported by manipulators that are removably attached to the surgical module. The surgical module may enable operation of surgical tools by providing an integration between actuating mechanisms of the manipulators and actuating mechanisms of the surgical tools. Alternatively or additionally, the surgical module may enable operation of the surgical tools by providing physical access for deploying surgical tools that are operatively connected to the manipulators.
1. A surgical system comprising:
a surgical assembly comprising a first surgical tool, a first actuating mechanism operatively coupled to the first surgical tool, a second surgical tool, and a second actuating mechanism operatively coupled to the second surgical tool;
a first manipulator comprising a first plurality of moveable links extending between a proximal end and a distal end of the first manipulator and a first actuator mechanism supported by the first plurality of moveable links at least partially at the distal end of the first manipulator, the first actuator mechanism being removably attached to the first actuating mechanism of the surgical assembly; and
a second manipulator comprising a second plurality of moveable links extending between a proximal end and a distal end of the second manipulator and a second actuator mechanism supported by the second plurality of moveable links at least partially at the distal end of the second manipulator, the second actuator mechanism being removably attached to the second actuating mechanism of the surgical assembly,
wherein at least a portion of the surgical assembly is supported between the distal ends of the first manipulator and the second manipulator,
wherein the first plurality of moveable links and the second plurality of moveable links are configured to cooperate to move the surgical assembly with respect to a surgical table.
2. The surgical system of claim 1 , wherein the first surgical tool and the second surgical tool are enclosed by a sheath.
3. The surgical system of claim 1 , wherein the first manipulator and the second manipulator are each supported by a respective mobile cart.
4. The surgical system of claim 3 , wherein at least one of the first plurality of moveable links and at least one of the second plurality of moveable links are mounted to the respective mobile cart.
5. The surgical system of claim 1 , wherein at least one of the first manipulator and the second manipulator is configured to be mounted on an operating table or to the ceiling.
6. The surgical system of claim 1 , wherein the first manipulator and the second manipulator are configured for manual positioning.
7. The surgical system of claim 1 , wherein the surgical system is configured to enable a clutch mode to enable manual adjustments of at least one of the first manipulator assembly and the second manipulator assembly.
8. The surgical system of claim 1 , further comprising an input controller operatively coupled to the first manipulator and the second manipulator via a processor.
9. The surgical system of claim 8 , wherein the first plurality of moveable links and the second plurality of moveable links are each configured to be articulated in response to input at the input controller.
10. The surgical system of claim 8 , wherein the processor correlates the movement of at least one of the first surgical tool and the second surgical tool to the movement of the input controller.
11. The surgical system of claim 8 , further comprising a display in communication with the processor, at least one of the first surgical tool and the second surgical tool being configured to capture images and provide the images to the processor, and the processor being configured to display the images on the display.
12. The surgical system of claim 1 , wherein the first manipulator is configured to allow the first surgical tool to be detached during a procedure and replaced with an alternate instrument.
13. The surgical system of claim 1 , wherein the second manipulator is configured to allow the second surgical tool to be detached during a procedure and replaced with an alternate instrument.
14. The surgical system of claim 1 , wherein the first manipulator and the second manipulator are of a same type.
15. The surgical system of claim 14 , wherein the first manipulator and the second manipulator are configured for use in flexible robotically assisted minimally invasive procedures.
16. The surgical system of claim 15 , wherein the first manipulator and the second manipulator are further configured for use in multi-port and single-port robotically assisted minimally invasive procedures.
17. The surgical system of claim 1 , wherein at least some of the first plurality of moveable links and at least some of the second plurality of moveable links are configured to remain in a fixed configuration during at least a portion of a surgical procedure.
18. The surgical system of claim 1 , wherein the first plurality of moveable links include a first plurality of joints and the second plurality of moveable links include a second plurality of joints, the joint ranges of the first plurality of joints and the second plurality of joints corresponding to a range of positions of the surgical assembly.
19. The surgical system of claim 1 , further comprising a switch, the switch being configured to change a mode of the first manipulator or the second manipulator.
20. The surgical system of claim 19 , wherein the switch is provided on the first manipulator or the second manipulator.