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Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity

  • US 6,991,627 B2
  • Filed: 02/15/2002
  • Issued: 01/31/2006
  • Est. Priority Date: 05/20/1996
  • Status: Expired due to Term
First Claim
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1. An articulated instrument for minimally invasive surgery, comprising:

  • an elongate support member having a proximal portion and a distal end with a longitudinal axis therebetween;

    a pivotal wrist member coupled to the distal end of the elongate support by a wrist joint; and

    a surgical end effector coupled to the wrist member by at least one joint, the end effector including at least one pair of work members pivotally coupled to the wrist member, wherein at least one work member can pivot relative to the other work member of the pair, and wherein at least one work member is removably fixed to the wrist member,said articulated instrument having a size and shape suitable for distal insertion into an internal surgical site through an aperture.

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