06436107 is referenced by 751 patents and cites 12 patents.

A surgical system that may include a remotely controlled surgical instrument. The surgical instrument may be coupled to a tool driver that can spin and actuate the instrument. The instrument may include an actuator rod that is coupled to an end effector and detachably connected to a push rod. The push rod can move relative to the handle to actuate the end effector. The end effector may include a fixture that conforms to the shape of a needle. The handle can be secured to the tool driver by inserting pins into corresponding slots that are located on both the instrument and the tool driver. The instrument can be controlled by an operator through a pair of handles. Each handle may be mechanically balanced by a counterweight. The surgical system may also include a touchpad that allows the operator to enter parameters of the system.

Title
Method and apparatus for performing minimally invasive surgical procedures
Application Number
9/262134
Publication Number
6436107 (B1)
Application Date
March 3, 1999
Publication Date
August 20, 2002
Inventor
Modjtaba Ghodoussi
Santa Barbara
CA, US
James Wright
Santa Barbara
CA, US
Charles Jordan
Santa Barbara
CA, US
Jeff Wilson
Santa Barbara
CA, US
Keith Laby
Santa Barbara
CA, US
Darrin Uecker
Santa Barbara
CA, US
Yulun Wang
Goleta
CA, US
Agent
Irell & Manella
US
Assignee
Computer Motion
CA, US
IPC
A61B 17/04
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