Surgical instrument

Abstract

A medical system comprises a surgical instrument having a mechanically drivable mechanism and a distal tool configured for performing a medical procedure on patient. The surgical instrument may include an adapter and an instrument insert removably disposed within the adapter. The adapter may have a mechanically drivable mechanism, and the instrument insert may carry a distal tool configured for performing a medical procedure on patient. The medical system further comprises an electromechanical drive unit, mechanical cabling coupled between the drive unit and the drivable mechanism, and a remote controller configured for directing the drive unit to control movement of the surgical instrument within at least one degree-of-freedom (e.g., actuation of the distal tool, and/or linear movement of the surgical instrument, and/or pivoting of the surgical instrument).

1 . A medical system, comprising: 
 a surgical instrument including an adapter and an instrument insert removably disposed within the adapter, the adapter having a mechanically drivable mechanism, the instrument insert carrying a distal tool configured for performing a medical procedure on patient;    an electromechanical drive unit; and    mechanical cabling coupled between the drive unit and the drivable mechanism to allow the drive unit to control movement of the surgical instrument within at least one degree-of-freedom.    
     
     
         2 . The medical system of  claim 1 , wherein the adapter has an elongated guide member that receives the instrument insert.  
     
     
         3 . The medical system of  claim 1 , further comprising a rigid support configured for being affixed relative to a patient table, wherein the surgical instrument is mounted to the rigid support.  
     
     
         4 . The medical system of  claim 1 , further comprising a carriage assembly to which the surgical instrument is mounted.  
     
     
         5 . The medical system of  claim 4 , wherein the carriage assembly comprises at least one rail and a carriage slidably disposed on the at least one rail, the surgical instrument affixed to the carriage.  
     
     
         6 . The medical system of  claim 4 , wherein the drive unit is configured for being coupled to the surgical instrument through the carriage assembly.  
     
     
         7 . The medical system of  claim 1 , wherein the drive unit has a motor array.  
     
     
         8 . The medical system of  claim 1 , wherein the at least one degree-of-freedom comprises a plurality of degrees-of-freedom.  
     
     
         9 . The medical system of  claim 1 , wherein the at least one degree-of-freedom is an actuation of the distal tool.  
     
     
         10 . The medical system of  claim 1 , wherein the at least one degree-of-freedom is a linear movement of the surgical instrument.  
     
     
         11 . The medical system of  claim 1 , wherein the at least one degree-of-freedom is a pivoting of the surgical instrument.  
     
     
         12 . The medical system of  claim 1 , further comprising a remote controller configured for directing the drive unit to control the movement of the surgical instrument within the at least one degree-of-freedom.  
     
     
         13 . The medical system of  claim 12 , wherein the remote controller has a user interface for receiving commands from a user.  
     
     
         14 . The medical system of  claim 13 , wherein the commands are movements made at the user interface that correspond to movements of the surgical instrument.  
     
     
         15 . The medical system of  claim 12 , wherein the remote controller is coupled to the drive unit via external cabling.  
     
     
         16 . A medical system, comprising: 
 a surgical instrument having a mechanically drivable mechanism and a distal tool configured for performing a medical procedure on patient;    an electromechanical drive unit;    mechanical cabling coupled between the drive unit and the drivable mechanism; and    a remote controller configured for directing the drive unit to control movement of the surgical instrument within at least one degree-of-freedom.    
     
     
         17 . The medical system of  claim 16 , further comprising a rigid support configured for being affixed relative to a patient table, wherein the surgical instrument is mounted to the rigid support.  
     
     
         18 . The medical system of  claim 16 , wherein the drive unit has a motor array.  
     
     
         19 . The medical system of  claim 16 , wherein the at least one degree-of-freedom comprises a plurality of degrees-of-freedom.  
     
     
         20 . The medical system of  claim 16 , wherein the at least one degree-of-freedom is an actuation of the distal tool.  
     
     
         21 . The medical system of  claim 16 , wherein the at least one degree-of-freedom is a linear movement of the surgical instrument.  
     
     
         22 . The medical system of  claim 16 , wherein the at least one degree-of-freedom is a pivoting of the surgical instrument.  
     
     
         23 . The medical system of  claim 16 , wherein the remote controller has a user interface for receiving commands from a user.  
     
     
         24 . The medical system of  claim 23 , wherein the commands are movements made at the user interface that correspond to movements of the surgical instrument.  
     
     
         25 . The medical system of  claim 16 , wherein the remote controller is coupled to the drive unit via external cabling.