CURVED CANNULA ROBOTIC MANIPULATOR AND SURGICAL INSTRUMENT HAVING A PASSIVELY FLEXIBLE SHAFT

摘要

A robotic surgical system is configured to have rigid curved cannulas 416a extending through the same opening in the patient's body. Surgical instrument 500 with passive flexible shaft 506 is extended through the curved cannulas. The influence of shaft deflection on the end effector movable element extending through the shaft by force isolation element 856 within the flexible shaft is prevented. The cannulas are oriented so that the surgical instrument is directed toward the surgical site. Various inlet features 1402 that support curved cannulas within a single opening are disclosed. A cannula support fixture (1902) is disclosed that supports the cannulas while being inserted into a single aperture and mounted to a robot manipulator. A remote control control system is disclosed that moves curved cannulas and their associated instruments in a manner that allows the physician to experience intuitive control.