Dual robotic endoscope configuration for tissue removal

Abstract

Dual surgical manipulator systems adapted for operating in stringently confined intrabody spaces, and/or for reaching such spaces via stringently confined access routes. In some embodiments, each of a pair of surgical manipulator arms introduced together and initially in parallel to each other is configured to approach a shared action zone from two different sides relative to their direction of introduction. Optionally, the arms may bend once to reach the shared action zone. One may bend by less than 90°, one may bend by more than 90°. One or more imagers may be provided which are configured to view the arms from a location lateral to their direction of introduction. The manipulator arms may be of a nested tubular design, which may contribute to reducing their complexity, and to their suitability for miniaturization.

Dependencies are inferred from the claim text.