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Roll-pitch-roll surgical tool

  • US 6,902,560 B1
  • Filed: 01/06/2004
  • Issued: 06/07/2005
  • Est. Priority Date: 07/27/2000
  • Status: Expired due to Term
First Claim
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1. A method of performing minimally invasive endoscopic surgery in a body cavity of a patient, the method comprising:

  • introducing an elongate shaft having a working end into the cavity, the elongate shaft having a proximal end and a shaft axis between the working end and the proximal end;

    rotating a wrist member pivotally coupled with the working end relative to the working end, the wrist member having a wrist axis;

    rotating at least one of the elongate shaft around the shaft axis and an end effector pivotally mounted on the wrist member around the wrist axis to position the end effector at a desired location inside the cavity.

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