Side looking minimally invasive surgery instrument assembly

Abstract

A surgical instrument assembly may comprise a guide tube including a distal end and a first instrument extending within the guide tube and configured to exit the guide tube proximal of the distal end. The surgical instrument may also include an imaging instrument extending within the guide tube and configured to exit the guide tube proximal of the distal end.

1 - 20 . (canceled) 
     
     
         21 . A surgical instrument assembly comprising:
 a guide tube including a distal end;   a first instrument extending within the guide tube and configured to exit the guide tube proximal of the distal end; and   an imaging instrument extending within the guide tube and configured to exit the guide tube proximal of the distal end.   
     
     
         22 . The surgical instrument assembly of  claim 21  further comprising:
 a second instrument extending within the guide tube and configured to exit the guide tube proximal of the distal end. 
 
     
     
         23 . The surgical instrument assembly of  claim 22  wherein the imaging instrument is at an angular orientation between the first instrument and the second instrument. 
     
     
         24 . The surgical instrument assembly of  claim 22  wherein the first instrument includes a first end effector and the second instrument includes a second end effector and wherein the first and second end effectors are configured to act in a working area that is within a field of view of the imaging instrument. 
     
     
         25 . The surgical instrument assembly of  claim 21  wherein the guide tube includes a side exit port and the first instrument is configured to extend through the side exit port. 
     
     
         26 . The surgical instrument assembly of  claim 21  wherein the guide tube includes a side exit port and the imaging instrument is configured to extend through the side exit port. 
     
     
         27 . The surgical instrument assembly of  claim 21  further comprising:
 a second instrument extending within the guide tube and configured to exit the guide tube at a distal exit port in the distal end. 
 
     
     
         28 . The surgical instrument assembly of  claim 21  wherein the first instrument and the imaging instrument are independently actuatable. 
     
     
         29 . The surgical instrument assembly of  claim 28 , wherein the first instrument and the imaging instrument are independently actuatable by robotic teleoperation. 
     
     
         30 . The surgical instrument assembly of  claim 21 , wherein the first instrument and the imaging instrument are configured for withdrawal from the guide tube. 
     
     
         31 . The surgical instrument assembly of  claim 21 , wherein at least one of the first instrument or the imaging instrument operates retroflexively. 
     
     
         32 . A teleoperated surgical assembly comprising:
 a guide tube including a distal end face, wherein a first side port in the guide tube is located proximal of the distal end face, a second side port of the guide tube is located proximal of the distal end face, and third side port of the guide tube is located proximal of the distal end face;   a first instrument extending within the guide tube and configured to exit the guide tube through the first side port;   a second instrument extending within the guide tube and configured to exit the guide tube through the second side port; and   an imaging instrument extending within the guide tube and configured to exit the guide tube through the third side port.   
     
     
         33 . The teleoperated surgical assembly of  claim 32  wherein the imaging instrument is at an angular orientation between the first instrument and the second instrument. 
     
     
         34 . The teleoperated surgical assembly of  claim 32  wherein the first instrument includes a first end effector and the second instrument includes a second end effector and wherein the first and second end effectors are configured to act in a working area that is within a field of view of the imaging instrument. 
     
     
         35 . The teleoperated surgical assembly of  claim 32  wherein the first side port is spaced approximately 180 degrees from the second side port. 
     
     
         36 . The teleoperated surgical assembly of  claim 32  further comprising:
 a third instrument extending within the guide tube and configured to exit the guide tube at a distal exit port in the distal end face. 
 
     
     
         37 . The teleoperated surgical assembly of  claim 32  wherein the first instrument, the second instrument, and the imaging instrument are independently actuatable. 
     
     
         38 . The teleoperated surgical assembly of  claim 37 , wherein the first instrument, the second instrument, and the imaging instrument are independently actuatable by robotic teleoperation. 
     
     
         39 . The teleoperated surgical assembly of  claim 32 , wherein the first instrument, the second instrument, and the imaging instrument are configured for withdrawal from the guide tube. 
     
     
         40 . The teleoperated surgical assembly of  claim 32 , wherein at least one of the first instrument, second instrument, or the imaging instrument operates retroflexively.