Roll-pitch-roll surgical tool
AssigneeIntuitive Surgical, Inc.
InventorsTracey A. Morley, Daniel T. Wallace
Life of this patent
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Abstract
A method of performing minimally invasive endoscopic surgery in a body cavity of a patient includes introducing an elongate shaft having a working end into the cavity. The elongate shaft has a proximal end and a shaft axis between the working end and the proximal end. A wrist member pivotally coupled with the working end is rotated relative to the working end. The wrist member has a wrist axis. The method further includes 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.
Claims9
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.
Dependencies are inferred from the claim text.