Teleoperated surgical retractor system
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United States of America Patent
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Jan 24, 2017
Issued Date -
N/A
app pub date -
Jun 13, 2007
filing date -
Jun 13, 2006
priority date (Note) -
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status (Latency Note)
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Abstract
A minimally invasive surgical system includes a guide tube and a telemanipulatively controlled surgical retractor instrument that extends through the guide tube. The portion of the retractor instrument that extends beyond the distal end of the guide tube includes several links that can be steered. In some aspects, joints between the links provide degrees of freedom in the same direction of movement. In some aspects, a grasping end effector is coupled to the end of the retractor instrument, and in further aspects the grasping end effector is coupled by a passively rotating wrist mechanism that rotates as the retractor instrument is moved while the end effector grasps tissue.
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