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Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide

  • US 10,271,912 B2
  • Filed: 09/07/2016
  • Issued: 04/30/2019
  • Est. Priority Date: 06/13/2007
  • Status: Active Grant
First Claim
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1. A method for concurrently moving a plurality of articulated instruments back towards an entry guide out of which the plurality of articulated instruments extend, the method comprising:

  • causing, by using a processor, the plurality of articulated instruments to assume retraction configurations after a delay which follows receiving one or more commands, to concurrently move the plurality of articulated instruments back towards the entry guide.

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