| US 7,507,199 B2 | ||
| Method and apparatus for performing minimally invasive cardiac procedures | ||
| Yulun Wang, Goleta, Calif. (US); Darrin R. Uecker, Santa Barbara, Calif. (US); Keith Phillip Laby, Santa Barbara, Calif. (US); Jeff Wilson, Santa Barbara, Calif. (US); Steve Jordan, Santa Barbara, Calif. (US); and James Wright, Santa Barbara, Calif. (US) | ||
| Assigned to Intuitive Surgical, Inc., Sunnyvale, Calif. (US) | ||
| Filed on Dec. 11, 2002, as Appl. No. 10/317,890. | ||
| Application 10/317890 is a continuation of application No. 09/000934, filed on Dec. 30, 1997, granted, now 6,905,491. | ||
| Application 09/000934 is a continuation of application No. 08/603543, filed on Feb. 20, 1996, granted, now 5,762,458. | ||
| Prior Publication US 2003/0139733 A1, Jul. 24, 2003 | ||
| This patent is subject to a terminal disclaimer. | ||
| Int. Cl. A61B 1/00 (2006.01); A61B 1/04 (2006.01) | ||
| U.S. Cl. 600—102 [600/109; 606/130; 901/2; 901/16] | 18 Claims |
| 1. A medical robotic system that utilizes an endoscope,comprising:
a first robotic arm;
a first surgical instrument coupled to said first robotic arm;
a second robotic arm;
a second surgical instrument coupled to said second robotic arm;
a third robotic arm coupled to the endoscope, the third robotic arm including a plurality of linkages and a plurality of motors,
wherein the plurality of linkages are coupled together and movable by selective actuation of the plurality of motors so as
to be capable of moving the endoscope in a three-dimensional space;
a plurality of handles coupled to said first and second robotic arms; and
a foot pedal coupled to said third robotic arm and the endoscope, and operable by an operator to move said third robotic arm
and the endosdope by selective actuation of the plurality of motors.
|