| abstract |
A robotic surgical system is constructed with curved cannula 416a of rigid stiffness extending through the same opening in the patient ' s body. A surgical instrument 500 having a passive flexible shaft 506 is extended through a curved cannula. The cannulas are oriented so that the instrument can be directed toward the surgical site. A variety of port structures 1402 are disclosed that support curved cannulas within a single opening. In one embodiment, the surgical instrument channels extend at different angles between the top surface and the bottom surface of the port structure. In another embodiment, the funnel portion and the tongue portion are separated by the waist portion, and the surgical instrument channel extends from the funnel portion through the waist portion. Disclosed is a cannula retaining feature (1902) that supports the cannulas while being inserted into a single opening and mounted to a robot manipulator. A remote control control system is disclosed that moves a curved cannula and their associated instrument in a manner that allows the physician to experience intuitive control. |