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:
positioning a first surgical instrument to extend from a distal end of a guide tube;
positioning a parallel motion mechanism of a second surgical instrument to extend from an intermediate portion of the guide tube,
wherein the second surgical instrument extends from the guide tube generally parallel to a longitudinal axis of the guide tube,
wherein the parallel motion mechanism comprises:
a first joint connected to a body of the second surgical instrument,
a 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, and
a plurality of cables, each of the plurality of cables comprising a first end and a second end, the first end being connected to a proximal portion of the first joint, and the second end being connected to a distal portion of the second joint,
wherein the first joint, the body segment, and the second joint extend distally from the intermediate portion, and
wherein the first and second joints are coupled by the plurality of cables to heave and sway 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; and
capturing an image with an image capture component positioned on the guide tube to have a field of view orientated generally perpendicular to the longitudinal axis of the guide tube at a location proximal to the distal end of the guide tube.
2. The method of claim 1 , further comprising:
moving the parallel motion mechanism to heave and sway the end component with reference to the longitudinal axis of the body of the second surgical instrument without changing the pitch and yaw of the end component.
3. The method of claim 1 , further comprising:
moving a parallel motion mechanism of the first surgical instrument to heave and sway an end component of the first surgical instrument with reference to a longitudinal axis of a body of the first surgical instrument without changing pitch and yaw of the end component of the first surgical instrument.
4. The method of claim 1 , further comprising:
moving a flexible segment of the guide tube,
wherein the flexible segment is between the distal end of the guide tube and the intermediate portion of the guide tube, and
wherein the flexible segment is proximal to the image capture component.
5. The method of claim 1 , further comprising:
applying a tensile force on one or more cables of a set of cables to change the heave or sway of the end component, each cable of the set of cables having a first end connected to the parallel motion mechanism distal to a pivot of the first joint, each cable of the set of cables having a second end coupled to a transmission mechanism, and the transmission mechanism being configured to perform the applying the tensile force.
6. The method of claim 1 , further comprising:
positioning a third surgical instrument to extend from the intermediate portion of the guide tube.