US20040176751A1 — Robotic medical instrument system

Claim 1

Independent Claim 168 words

1 . A robotic medical apparatus for performing a medical procedure or application on an anatomy, said apparatus comprising: a first medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed; a second medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed; said first medical instrument member disposed so as to extend into the anatomy at a first ingress location and passing intraluminally; said second medical instrument member disposed so as to extend into the anatomy at a second ingress location different than said first ingress location and passing extraluminally; and a controller for receiving remotely generated control commands for respectively controlling the motion of said first and second medical instrument members so that said first and second medical instrument members are separately and controllably operable to perform the medical procedure or application.

Claim 2

Dependent Claim 168 words

1 . A robotic medical apparatus for performing a medical procedure or application on an anatomy, said apparatus comprising: a first medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed; a second medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed; said first medical instrument member disposed so as to extend into the anatomy at a first ingress location and passing intraluminally; said second medical instrument member disposed so as to extend into the anatomy at a second ingress location different than said first ingress location and passing extraluminally; and a controller for receiving remotely generated control commands for respectively controlling the motion of said first and second medical instrument members so that said first and second medical instrument members are separately and controllably operable to perform the medical procedure or application.

Claim 3

Dependent Claim 31 words

2 . The robotic medical apparatus of claim 1 wherein said first and second medical instrument members are separately and controllably operable, in unison, to perform the medical procedure or application.

Claim 4

Dependent Claim 31 words

3 . The robotic medical apparatus of claim 1 wherein said first medical instrument member comprises a rigid shaft instrument, and said second medical instrument member comprises a flexible shaft instrument.

Claim 5

Dependent Claim 31 words

4 . The robotic medical apparatus of forth in claim 3 wherein said first medical instrument member extends into the anatomy at the first ingress location defined by a small incision.

Claim 6

Dependent Claim 38 words

5 . The robotic medical apparatus of claim 4 wherein said second medical instrument member extends into the anatomy at the second ingress location defined by a percutaneous or surgical access, or by introduction through a natural orifice.

Claim 7

Dependent Claim 46 words

6 . The robotic medical apparatus of claim 1 wherein said first medical instrument member comprises a rigid shaft instrument, and said second medical instrument member comprises a flexible shaft instrument, said flexible shaft instrument adapted to extend intralumenally through an anatomic vessel, or the like.

Claim 8

Dependent Claim 23 words

7 . The robotic medical apparatus of claim 6 wherein said rigid shaft instrument is adapted to extend extralumenally about the anatomic vessel.

Claim 9

Dependent Claim 21 words

8 . The robotic medical apparatus of claim 1 wherein both said first and second medical instruments are flexible shaft instruments.

Claim 10

Dependent Claim 21 words

9 . The robotic medical apparatus of claim 1 wherein both said first and second medical instruments are rigid shaft instruments.

Claim 11

Dependent Claim 45 words

10 . The robotic medical apparatus of claim 1 wherein said first medical instrument member is rigid entering the anatomy laparoscopically, while the second medical instrument member is flexible and meant to enter a body lumen such as through a natural body orifice or percutaneously.

Claim 12

Dependent Claim 33 words

11 . The robotic medical apparatus of claim 1 wherein the working end of each instrument member is at its distal end and includes a tool for performing the medical procedure or application.

Claim 13

Dependent Claim 15 words

12 . The robotic medical apparatus of claim 11 wherein said tool is for sewing.

Claim 14

Dependent Claim 15 words

13 . The robotic medical apparatus of claim 11 wherein said tool is for suturing.

Claim 15

Dependent Claim 15 words

14 . The robotic medical apparatus of claim 11 wherein said tool is for grasping.

Claim 16

Dependent Claim 19 words

15 . The robotic medical apparatus of claim 11 wherein said tool is for applying clips, staples, or clamps.

Claim 17

Dependent Claim 17 words

16 . The robotic medical apparatus of claim 1 including separate input devices communicating with the controller.

Claim 18

Dependent Claim 43 words

17 . The robotic medical apparatus of claim 16 wherein the input devices issue the control commands for respectively controlling the motion of said first and second medical instrument members, and are disposed at a master control station remote from said instrument members.

Claim 19

Dependent Claim 120 words

18 . A robotic medical apparatus for performing a securing procedure, at an internal body site, said apparatus comprising: a medical instrument member having a working end adapted to be disposed at the internal body site at which the securing procedure is to be performed; and a controller for receiving a remotely generated control command for controlling the motion of said medical instrument member to perform the securing procedure; said medical instrument member including, at a distal section thereof, a securing tool having one and another ends adapted to be disposed at opposite sides of a tissue that is to be secured; and at least one of said tool ends adapted to hold a securing member for securing said tissue.

Claim 20

Dependent Claim 120 words

18 . A robotic medical apparatus for performing a securing procedure, at an internal body site, said apparatus comprising: a medical instrument member having a working end adapted to be disposed at the internal body site at which the securing procedure is to be performed; and a controller for receiving a remotely generated control command for controlling the motion of said medical instrument member to perform the securing procedure; said medical instrument member including, at a distal section thereof, a securing tool having one and another ends adapted to be disposed at opposite sides of a tissue that is to be secured; and at least one of said tool ends adapted to hold a securing member for securing said tissue.

Claim 21

Dependent Claim 18 words

19 . The robotic medical apparatus of claim 18 wherein said medical instrument member includes an instrument shaft.

Claim 22

Dependent Claim 25 words

20 . The robotic medical apparatus of claim 19 including a controllably bendable section along said instrument shaft for directing the position of said tool.

Claim 23

Dependent Claim 31 words

21 . The robotic medical apparatus of claim 20 including a remote input device controlled by an operator, and coupled by way of said controller to remotely control said bendable section.

Claim 24

Dependent Claim 15 words

22 . The robotic medical apparatus of claim 19 wherein said instrument shaft is rigid.

Claim 25

Dependent Claim 15 words

23 . The robotic medical apparatus of claim 18 wherein said tool is for sewing.

Claim 26

Dependent Claim 15 words

24 . The robotic medical apparatus of claim 18 wherein said tool is for suturing.

Claim 27

Dependent Claim 19 words

25 . The robotic medical apparatus of claim 11 wherein said tool is for applying clips, staples, or clamps.

Claim 28

Dependent Claim 22 words

26 . The robotic medical apparatus of claim 18 wherein one end of said tool is active while another end is passive.

Claim 29

Dependent Claim 203 words

27 . A robotic medical apparatus for performing a medical procedure or application on an anatomy, said apparatus comprising: a first medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed; a second medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed; said first medical instrument member disposed so as to extend into the anatomy at a first ingress location; said second medical instrument member disposed so as to extend into the anatomy at a second ingress location different than said first ingress location; a controller for receiving remotely generated control commands for respectively controlling the motion of said first and second medical instrument members so that said first and second medical instrument members are separately and controllably operable to perform the medical procedure or application; both said first and second medical instrument members comprising active work elements at said respective member working ends and disposed at opposite sides of an anatomic wall; and said active work elements being controlled cooperatively to perform the medical procedure or application.

Claim 30

Dependent Claim 203 words

27 . A robotic medical apparatus for performing a medical procedure or application on an anatomy, said apparatus comprising: a first medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed; a second medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed; said first medical instrument member disposed so as to extend into the anatomy at a first ingress location; said second medical instrument member disposed so as to extend into the anatomy at a second ingress location different than said first ingress location; a controller for receiving remotely generated control commands for respectively controlling the motion of said first and second medical instrument members so that said first and second medical instrument members are separately and controllably operable to perform the medical procedure or application; both said first and second medical instrument members comprising active work elements at said respective member working ends and disposed at opposite sides of an anatomic wall; and said active work elements being controlled cooperatively to perform the medical procedure or application.

Claim 31

Dependent Claim 29 words

28 . The robotic medical apparatus of claim 27 wherein said active work elements include at least one element that extends a securing piece through said body vessel wall.

Claim 32

Dependent Claim 18 words

29 . The robotic medical apparatus of claim 27 wherein said active work element comprises an end effector.

Claim 33

Dependent Claim 162 words

30 . A robotic medical apparatus for performing a medical procedure or application on an anatomy, said apparatus comprising: a first medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed; a second medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed; said first medical instrument member disposed so as to extend into the anatomy at a first ingress location; said second medical instrument member disposed so as to extend into the anatomy at a second ingress location different than said first ingress location; and a controller for receiving remotely generated control commands for respectively controlling the motion of said first and second medical instrument members so that said first and second medical instrument members are separately and controllably operable to perform the medical procedure or application.

Claim 34

Dependent Claim 162 words

30 . A robotic medical apparatus for performing a medical procedure or application on an anatomy, said apparatus comprising: a first medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed; a second medical instrument member having a working end adapted to be disposed at an internal target area at which the medical procedure or application is to be performed; said first medical instrument member disposed so as to extend into the anatomy at a first ingress location; said second medical instrument member disposed so as to extend into the anatomy at a second ingress location different than said first ingress location; and a controller for receiving remotely generated control commands for respectively controlling the motion of said first and second medical instrument members so that said first and second medical instrument members are separately and controllably operable to perform the medical procedure or application.

Claim 35

Dependent Claim 23 words

31 . The robotic medical apparatus of claim 30 wherein said first medical instrument passes intralumenally and said second medical instrument passes extralumenally.

Claim 36

Dependent Claim 39 words

32 . The robotic medical apparatus of claim 30 including a first master input device remote from said first medical instrument for control thereof, and a second master input device remote from said second medical instrument for control thereof.

Claim 37

Dependent Claim 119 words

33 . A robotic medical apparatus for performing a securing procedure, at an internal body site, said apparatus comprising: a medical instrument member having a working end adapted to be disposed at the internal body site at which the securing procedure is to be performed; a controller for receiving a remotely generated control command for controlling the motion of said medical instrument member to perform the securing procedure; said medical instrument member including, at a distal section thereof, a securing tool having one and another ends adapted to be disposed at opposite sides of a tissue that is to be secured; and at least one of said tool ends adapted to hold a securing member for securing said tissue.

Claim 38

Dependent Claim 119 words

33 . A robotic medical apparatus for performing a securing procedure, at an internal body site, said apparatus comprising: a medical instrument member having a working end adapted to be disposed at the internal body site at which the securing procedure is to be performed; a controller for receiving a remotely generated control command for controlling the motion of said medical instrument member to perform the securing procedure; said medical instrument member including, at a distal section thereof, a securing tool having one and another ends adapted to be disposed at opposite sides of a tissue that is to be secured; and at least one of said tool ends adapted to hold a securing member for securing said tissue.

Claim 39

Dependent Claim 18 words

34 . The robotic medical apparatus of claim 33 wherein said medical instrument member includes an instrument shaft.

Claim 40

Dependent Claim 25 words

35 . The robotic medical apparatus of claim 34 including a controllably bendable section along said instrument shaft for directing the position of said tool.

Claim 41

Dependent Claim 31 words

36 . The robotic medical apparatus of claim 35 including a remote input device controlled by an operator, and coupled by way of said controller to remotely control said bendable section.

Claim 42

Dependent Claim 15 words

37 . The robotic medical apparatus of claim 34 wherein said instrument shaft is rigid.

Claim 43

Dependent Claim 15 words

38 . The robotic medical apparatus of claim 33 wherein said tool is for sewing.

Claim 44

Dependent Claim 15 words

39 . The robotic medical apparatus of claim 33 wherein said tool is for suturing.

Claim 45

Dependent Claim 19 words

40 . The robotic medical apparatus of claim 33 wherein said tool is for applying clips, staples, or clamps.

Claim 46

Dependent Claim 22 words

41 . The robotic medical apparatus of claim 33 wherein one end of said tool is active while another end is passive.

Robotic medical instrument system

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