An endoscope system comprises multiple types of treatment tools including a treatment-tool insertion unit, and a function unit having a function for performing treatment; an electrically-driven operation device which electrically drives the function unit; an electrically-driven advance/retreat device which electrically drives the treatment-tool insertion unit; a control device including at least one of a control unit for outputting a control signal to the electrically-driven advance/retreat device and the electrically-driven operation device, and an operating program corresponding to a treatment tool; and an operation instructing device including a first operating instruction unit for outputting an instruction signal for placing the electrically-driven operation device and the electrically-driven advance/retreat device into a manually-driven operating state, and a second operating instruction unit for outputting an instruction signal for placing the electrically-driven operation device and the electrically-driven advance/retreat device into a programmed-control state by the operating program. When receiving either of the signal from the first operating instruction unit or the signal from the second operating instruction unit, the control unit performs control for outputting the control signal corresponding to the received signal to at least one of the electrically-driven advance/retreat device and the electrically-driven operation device.

Methods and apparatus employed in surgery involving making precise incisions in vessels of the body, particularly cardiac blood vessels in coronary revascularization procedures conducted on the stopped or beating heart are disclosed. Such incisions are created by applying an elongated electrosurgical cutting electrode to the outer surface of the vessel wall in substantially parallel alignment with the body vessel axis, the elongated electrosurgical cutting electrode having a predetermined cutting electrode length exceeding the cutting electrode width. RF energy is applied between the electrosurgical cutting electrode and the ground electrode at an energy level and for a duration sufficient to cut an elongated slit through the vessel wall where the elongated electrosurgical cutting electrode is applied to the surface of the vessel wall.

Methods and apparatus employed in surgery involving making precise incisions in vessels of the body, particularly cardiac blood vessels in coronary revascularization procedures conducted on the stopped or beating heart are disclosed. Such incisions are created by applying an elongated electrosurgical cutting electrode to the outer surface of the vessel wall in substantially parallel alignment with the body vessel axis, the elongated electrosurgical cutting electrode having a predetermined cutting electrode length exceeding the cutting electrode width. RF energy is applied between the electrosurgical cutting electrode and the ground electrode at an energy level and for a duration sufficient to cut an elongated slit through the vessel wall where the elongated electrosurgical cutting electrode is applied to the surface of the vessel wall.

Methods and apparatus employed to locate body vessels and occlusions in body vessels finding particular utility in cardiac surgery, particularly minimally invasive cardiac surgery to locate cardiac arteries and occlusions in cardiac arteries are disclosed. An elongated vessel lumen probe incorporating a lumen probe element at or near the elongated vessel lumen probe distal end is advanced into the vessel lumen. A vessel surface probe manipulated by the surgeon and having a surface probe element sensor is employed to detect the lumen probe element and to follow the progress of the vessel lumen probe element as it approaches and is advanced through or is blocked by an occlusion. In the location of a coronary artery, the surface probe element sensor is moved about against the epicardium over the suspected location of the artery of interest until a surface probe element sensor of the present invention at the surface probe distal end interacts with the lumen probe element of the vessel lumen probe.

A manipulator for producing a remote center of revolute motion is provided. The manipulator includes a base and a first parallelogram linkage mechanism including a first link pivotally mounted to the base for rotation about a first axis such that the first link moves in a first plane. The manipulator also includes a second parallelogram linkage mechanism including a second link pivotally mounted to the base for rotation about a second axis such that the second link moves in a second plane parallel to the first plane. The first link is pivotal about a third axis perpendicular to the first axis and the second link is pivotal about a fourth axis perpendicular to the second axis. The first and second parallelogram linkages are pivotally connected together by a first connector link and a second connector link. The first and second connector links are parallel to each other and parallel to the first and second axes such that the first and second planes remain parallel as the first and second links respectively rotate about the third and fourth axes. A tool holder is pivotally connected to the first connector link by a first pivot joint and pivotally connected to the second connector link by a second pivot joint such that a tool held therein is pivotable at a remote virtual pivot point about a first remote pivot axis by pivoting the first and second links respectively about the first and second axes and a second remote pivot axis by pivoting the first and second links respectively about the third and fourth axes.