(i9) United States
(12) Patent Application Publication oo) Pub. No.: US 2008/0058836 Al
Moll et al. (43) Pub. Date: Mar. 6,2008
(54) SYSTEMS AND METHODS FOR
PERFORMING MINIMALLY INVASIVE
(75) Inventors: Frederic H. Moll, Woodside, CA (US);
Daniel T. Wallace, Burlingame, CA
(US); Gregory J. Stahler, San Jose,
CA (US); Christopher R. Carlson,
Menlo Park, CA (US); Federico
Barbagli, San Francisco, CA (US)
VISTA IP LAW GROUP LLP
12930 Saratoga Avenue
Saratoga, CA 95070 (US)
(73) Assignee: Hansen Medical, Inc., Mountain View, CA
(21) Appl. No.: 11/833,969
(22) Filed: Aug. 3, 2007
Related U.S. Application Data
(63) Continuation-in-part of application No. 11/829,076, filed on Jul. 26, 2007.
(60) Provisional application No. 60/835,592, filed on Aug. 3, 2006. Provisional application No. 60/838,075, filed on Aug. 15, 2006. Provisional application No. 60/840, 331, filed on Aug. 24, 2006.
A robotic surgical system includes an instrument driver and an instrument assembly operatively coupled to the instrument driver such that mechanisms of the instrument driver operate or control movement, operation, or both, of components of the instrument assembly. The instrument assembly components include an elongate flexible guide instrument, an optical light source, a camera and a working tool, wherein the light source, camera, and working tool are carried in one or more lumens of the guide instrument. An operator control station is operatively coupled to the instrument driver via a remote communication link. The instrument assembly further includes an inflatable visualization balloon carried on a distal end portion of the guide instrument, the light source and camera having distal ends located within an interior of the balloon, the balloon comprising a lumen extending from the guide instrument to a distal facing wall of the balloon, such that the working instrument may extend from a respective lumen of the guide instrument through the balloon lumen to contact body tissue when the distal end of the guide instrument is positioned in an interior body region.