Multi-component telepresence system and method

Abstract

The present invention provides systems and methods for performing robotically-assisted surgical procedures on a patient. In particular, a three-component surgical system is provided that includes a non-sterile drive and control component, a sterilizable end effector or surgical tool and an intermediate connector component that includes mechanical elements for coupling the surgical tool with the drive and control component and for transferring motion and electrical signals therebetween. The drive and control component is shielded from the sterile surgical site, the surgical tool is sterilizable and disposable and the intermediate connector is sterilizable and reusable. In this manner, the intermediate connector can be sterilized after a surgical procedure without damaging the motors or electrical connections within the drive and control component of the robotic system.

What is claimed is:  
     
         1 . A method for performing a surgical procedure with a robotic surgical system comprising: 
 providing a plurality of surgical instrument assemblies each comprising a wrist unit having a shaft with a proximal end and a distal wrist, and an instrument coupled to the distal wrist;    connecting the proximal end of the wrist unit shaft of one of the surgical instrument assemblies to a manipulator arm; and    introducing the instrument of said one of the surgical instrument assemblies to a treatment site on a patient with the manipulator arm.    
     
     
         2 . The method of  claim 1  further comprising removing the instrument of said one of the surgical instrument assemblies from the treatment site and disconnecting the proximal end of the wrist unit shaft of said one of the surgical instrument assemblies from the manipulator arm.  
     
     
         3 . The method of  claim 1  further comprising connecting the proximal end of the wrist unit shaft of another one of the surgical instrument assemblies to the manipulator arm, and introducing the instrument of said another one of the surgical instrument assemblies to the treatment site with the manipulator arm.  
     
     
         4 . The method of  claim 1  further comprising pivoting the instrument about the distal wrist of the wrist unit shaft.  
     
     
         5 . The method of  claim 1  further comprising: 
 shielding the manipulator arm from the treatment site with a sterile drape;  
 attaching a sterile adaptor to the manipulator arm through the sterile drape; and  
 attaching the proximal end of the wrist unit shaft of said one of the surgical instrument assemblies to the sterile adaptor.