07118582 is referenced by 429 patents and cites 194 patents.

A medical system which has a robotic arm that can move a surgical instrument. The surgical instrument is coupled to a tool driver of the arm that allows for a quick connect and disconnect of the instrument. The system does not require any tools to attach the surgical instrument to the tool driver. The instrument has an end effector that is actuated by the driver.

Title
Method and apparatus for performing minimally invasive cardiac procedures
Application Number
9/169169
Publication Number
7118582 (B1)
Application Date
October 8, 1998
Publication Date
October 10, 2006
Inventor
Modjtaba Ghoudoussi
Summerland
CA, US
Jeff D Wilson
Santa Barbara
CA, US
Keith Phillip Laby
Santa Barbara
CA, US
James W Wright
Santa Barbara
CA, US
Charles S Jordan
Santa Barbara
CA, US
Darrin R Uecker
Santa Barbara
CA, US
Yulun Wang
Goleta
CA, US
Agent
Irell & Manella
Assignee
Computer Motion
CA, US
IPC
A61B 17/04
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