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Methods and apparatus to shape flexible entry guides for minimally invasive surgery

  • US 9,962,066 B2
  • Filed: 06/30/2008
  • Issued: 05/08/2018
  • Est. Priority Date: 12/30/2005
  • Status: Active Grant
First Claim
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1. A method for a surgical procedure, the method comprising:

  • inserting a first steering device into a first lumen at a first end of a flexible entry guide tube, wherein the first steering device includes a surgical end effector to perform the surgical procedure and includes a cable extending therein to enable independent steering of a first steerable tip portion thereof;

    securing, with a locking device, the first steerable tip portion of the first steering device in attachment to a second end of the flexible entry guide tube at a desired position within the second end of the flexible entry guide tube, the locking device being disposed on the first steerable tip portion to lock the first steerable tip portion relative to the second end of the flexible entry guide;

    inserting the flexible entry guide tube into a body cavity through an opening;

    steering the second end of the flexible entry guide tube towards a first surgical site within the body cavity using the first steering device;

    locking a shape of the flexible entry guide tube in place within the body cavity with the second end located near the surgical site, wherein locking includes actuating a locking cable; and

    with the shape locked by the actuated locking cable, extending the surgical end effector distally away from the second end of the flexible entry guide tube to perform the surgical procedure.

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