Mechanized multi-instrument surgical system

A method of performing surgery, comprising:ninserting a distal end of an instrument driver through an incision in a body wall into a body cavity, the instrument driver comprising a steerable finger having a lumen;removably inserting a distal portion of a surgical instrument in contact with the instrument driver by inserting the surgical instrument through the lumen, and removably positioning a proximal portion of the surgical instrument in contact with a user input device;manually manipulating the proximal portion of the surgical instrument to cause the user input device to generate movement signals corresponding to movement of the proximal portion of the surgical instrument; andoperating a motor in response to the movement signals to move the instrument driver within the body cavity and to thereby reposition the distal portion of the surgical instrument within the body cavity, wherein operating the motor tensions an actuation element anchored to the finger so as to deflect the finger within the body cavity.

A method of performing surgery, comprising:ninserting a distal end of an instrument driver through an incision in a body wall into a body cavity;removably positioning a distal portion of a surgical instrument in contact with the instrument driver and in contact with a roll driver and removably positioning a proximal portion of the surgical instrument in contact with a user input device;manually manipulating the proximal portion of the surgical instrument to cause the user input device to generate movement signals corresponding to movement of the proximal portion of the surgical instrument; andoperating a motor in response to the movement signals to move the instrument driver within the body cavity and to thereby reposition the distal portion of the surgical instrument within the body cavity;generating roll movement signals in response to manual axial rotation of the proximal portion of the surgical instrument; andoperating a roll motor in response to the roll movement signals, operation of the roll motor causing the roll driver to axially roll the distal portion of the surgical instrument.

A method of performing surgery, comprising:ninserting a distal end of an instrument driver through an incision in a body wall into a body cavity;removably positioning a distal portion of a surgical instrument in contact with the instrument driver and in contact with a roll driver and removably positioning a proximal portion of the surgical instrument in contact with a user input device;manually manipulating the proximal portion of the surgical instrument to cause the user input device to generate movement signals corresponding to movement of the proximal portion of the surgical instrument; andoperating a motor in response to the movement signals to move the instrument driver within the body cavity and to thereby reposition the distal portion of the surgical instrument within the body cavitygenerating roll movement signals in response to manual rotation of a knob on a roll input device andoperating a roll motor in response to the roll movement signals, operation of the roll motor causing the roll driver to axially roll the distal portion of the surgical instrument.

A method of performing surgery, comprising:ninserting a distal end of an instrument driver through an incision in a body wall into a body cavity;removably positioning a distal portion of a surgical instrument in contact with the instrument driver, removably positioning a proximal portion of the surgical instrument in contact with a user input device, providing a roll driver that includes a tubular member having a lumen, and positioning a portion of the surgical instrument within the lumen of the tubular member;manually manipulating the proximal portion of the surgical instrument to cause the user input device to generate movement signals corresponding to movement of the proximal portion of the surgical instrument;operating a motor in response to the movement signals to move the instrument driver within the body cavity and to thereby reposition the distal portion of the surgical instrument within the body cavitygenerating roll movement signals in response to manual manipulation of at least one of a moveble member on a roll input device and the proximal portion of the surgical instrument; andoperating a roll motor in response to the roll movement signals, wherein operating the roll motor axially rotates the tubular member, and wherein at least one first feature in the lumen of the tubular member rotationally couples with at least one second feature on the shaft of the surgical instrument to cause axial rotation of the distal portion of the surgical instrument shaft.

A method of performing surgery, comprising:ninserting a distal end of an instrument driver through an incision in a body wall into a body cavity;removably positioning a distal portion of a first surgical instrument in contact with the instrument driver and removably positioning a proximal portion of the first surgical instrument in contact with a user input device;manually manipulating the proximal portion of the first surgical instrument to cause the user input device to generate movement signals corresponding to movement of the proximal portion of the first surgical instrument; andoperating a motor in response to the movement signals to move the instrument driver within the body cavity and to thereby reposition the distal portion of the first surgical instrument within the body cavitywith the distal end of the instrument driver in the body cavity:separating the first surgical instrument from the instrument driver and the user input device;removably positioning a distal portion of a second surgical instrument in contact with the instrument driver, and removably positioning a proximal portion of the second surgical instrument in contact with the user input device;manually manipulating the proximal portion of the second surgical instrument to cause the user input device to generate movement signals corresponding to movement of the proximal portion of the surgical instrument; andoperating the motor in response to the movement signals to move the instrument driver within the body cavity and to thereby reposition the distal portion of the second surgical instrument within the body cavity.