Robotic system, docking station, and surgical tool for collaborative control in minimally invasive surgery
US6325808A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Dec 8, 1998 |
| Grant date | Dec 4, 2001 |
| Priority date | — |
| Expiry date | Dec 8, 2018 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/08021
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A robotic system for minimally invasive surgery includes a surgical tool and a docking station for restraining movement of the surgical tool to four degrees of freedom about an incision point in a patient. The docking station includes a plurality of actuators for moving the surgical tool relative to the incision in the patient, and a controller operably connected to the actuators so that movement of the surgical tool may be collaboratively controllable both actively by the controller and manually by a surgeon. Desirably, the surgical tool and the docking station are releasably attachable together. Also disclosed is a computer implemented method employing a first docking station attachable to a suturing surgical tool and a second docking station attachable to gripping surgical tool for autonomously tying a knot in suturing.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.