US Patent 8123675 System and method for augmentation of endoscopic surgery

A robotic device for use in surgery includes a first surgical instrument having a proximal end, a distal end, and a shaft extending therebetween, the distal end of the first instrument and adjacent shaft being insertable distally into a first incision; a first manipulator movably supporting the first instrument; a plurality of motorized drives coupled to the manipulator; an input device having an input movable in two degrees of freedom; and a computer coupling the input device to the motorized drives so that the motorized drives effect a motion of the first surgical instrument in response to movement of the input, a center of the motion located along the shaft at the incision when the first instrument is used during surgery.