Surgery methods using a robotic instrument system

Abstract

Various methods for performing various surgical procedures using a robotic instrument system are disclosed. In one embodiment, the method comprises advancing a guide instrument into a patient's body and to the vicinity of a treatment area. The guide instrument may be a robotically controlled catheter which is controlled by a robotic catheter system. The guide instrument comprises an elongate flexible body having a proximal end and a distal end, and an end effector coupled to the distal end. The end effector may comprise various devices for assisting and performing the surgical procedure. For example, the end effector may be a clip applier, a laser fiber, a cryo fiber, or a needle and grasper. An image capture device may also be coupled to the distal end to assist in positioning and operating the guide instrument.

1 - 29 . (canceled) 
     
     
         30 . A method for repairing a detached retina in a patient's eye, comprising:
 providing a robotic medical instrument system comprising a master input device, an instrument driver, a flexible sheath, and a guide instrument coaxially coupled within a working lumen of the flexible sheath;   the instrument driver configured to independently control movement of the guide instrument relative to the flexible sheath;   robotically extending the guide instrument out of a distal tip of the flexible sheath and into the vitreous body of the eye, the guide instrument comprising an elongate flexible body having a proximal end, a distal end, an image capture device, and an end effector coupled to the distal end;   robotically maneuvering, steering and/or rotating the guide instrument relative to the flexible sheath while the distal end of the guide instrument is in the vitreous of the eye;   pushing the detached retina toward the wall of the eye using the guide instrument under robotic control;   robotically positioning the end effector at the area of the detached retina; and   engaging the instrument driver to maneuver the end effector and repair the detached retina.   
     
     
         31 . The method of  claim 30 , wherein robotically positioning the end effector comprises the instrument driver maneuvering, steering and/or rotating the end effector relative to the guide instrument. 
     
     
         32 . The method of  claim 31 , wherein the end effector comprises a laser fiber for applying laser energy to repair the detached retina. 
     
     
         33 . The method of  claim 32 , wherein after inserting the guide instrument into the vitreous body of the eye through the bulbar conjunctiva the laser fiber is robotically extended out of the guide instrument to apply laser photocoagulation to repair the detached retina. 
     
     
         34 . The method of  claim 33 , guiding the laser fiber using an image capture device located in the guide instrument, the image capture device being steered and oriented in the vitreous body by the instrument driver. 
     
     
         35 . The method of  claim 34 , after applying laser photocoagulation, using the guide instrument to inject a gas bubble into the vitreous body to force the detached retina against the eye wall.