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GUIDE TUBE CONTROL OF MINIMALLY INVASIVE SURGICAL INSTRUMENTS

  • US 20080064921A1
  • Filed: 06/13/2007
  • Published: 03/13/2008
  • Est. Priority Date: 06/13/2006
  • Status: Abandoned Application
First Claim
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1. A surgical apparatus comprising:

  • a guide tube comprising an actively flexible distal portion;

    a surgical instrument comprising an end effector at a distal end of the surgical instrument; and

    a telemanipulative control system;

    wherein the surgical instrument extends through the guide tube; and

    wherein, in response to signals generated by the control system, the actively flexible distal segment of the guide tube moves the end effector in at least two orientation degrees of freedom without substantially changing the position of the end effector.

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