查看更多>>摘要：From the background information supplied by the inventors, news correspondents o btained the followingquote: “A variety of surgical instruments include an end e ffector for use in conventional medical treatmentsand procedures conducted by a medical professional operator, as well as applications in robotically assistedsurgeries. Such surgical instruments may be directly gripped and manipulated by a surgeon or incorporatedinto robotically assisted surgery. In the case of robo tically assisted surgery, the surgeon may operate amaster controller to remotel y control the motion of such surgical instruments at a surgical site. Thecontro ller may be separated from the patient by a significant distance (e.g., across t he operating room,in a different room, or in a completely different building th an the patient). Alternatively, a controller maybe positioned quite near the pa tient in the operating room. Regardless, the controller may include oneor more hand input devices (such as joysticks, exoskeletol gloves, master manipulators, or the like), which are coupled by a servo mechanism to the surgical instrument. In one example, a servo motor moves amanipulator supporting the surgical instr ument based on the surgeon’s manipulation of the hand inputdevices. During the surgery, the surgeon may employ, via a robotic surgical system, a variety of sur gicalinstruments including an ultrasonic blade, a tissue grasper, a needle driv er, an electrosurgical cauteryprobes, etc. Each of these structures performs fu nctions for the surgeon, for example, cutting tissue,coagulating tissue, holdin g or driving a needle, grasping a blood vessel, dissecting tissue, or cauterizin gtissue.
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