Devices, systems and methods for minimally invasive surgery of the throat and other portions of mammalian body

A distal dexterity apparatus comprising:

• at least one distal dexterity device;
• wherein each of the at least one distal dexterity device has an operable end, the operable end including a tool and a flexible backbone system;
• wherein the flexible backbone system includes a plurality of secondary axially extending backbone members that are disposed about and parallel to a central axially extending backbone member, each of the secondary axially extending backbone members and central axially extending backbone member is configured and arranged so as to be flexible in bending and stiff in the axial direction such that the axially extending members provide push and pull axial forces while being able to bend sideways when the flexible backbone system is being manipulated;
• the flexible backbone assembly being operably coupled to the tool so that motion of the flexible backbone system is imposed on the tool;
• an actuation device operably coupled to the plurality of secondary backbone members and being configured and arranged so as to cause the flexible backbone system to maneuver the tool in one or more directions responsive to outputs from the actuation device;
• and
• wherein the axially extending members make use of both push and pull actuation;
• wherein said flexible backbone system further includes:
• a base member;
• an end member;
• and
• one or more intermediate spacer members;
• wherein the centrally located backbone members is secured to each of the base member, the end member and each of the intermediate spacer members;
• and
• wherein the each of the plurality of secondary backbone members is a flexible tubular member having an internal actuator wire disposed therein to maneuver the operably coupled tool, the flexible tubular members secured to the end member and slidably disposed through apertures in each of the one or more intermediate members and the base member.

A distal dexterity device comprising:

• an operable end having that a tool and a flexible backbone system,
• wherein the flexible backbone system includes a plurality of secondary axially extending backbone members that are disposed about and parallel to a central axially extending backbone member and wherein the flexible backbone assembly is operably coupled to the tool so that motion of the flexible backbone system is imposed on the tool;
• wherein each of the secondary axially extending backbone members and the central axially extending backbone member is configured and arranged so as to be flexible in bending and stiff in the axial direction such that the axially extending members provide push and pull axial forces while being able to bend sideways when the flexible backbone system is being manipulated;
• an actuation device that is operably coupled to the plurality of secondary backbone members, the actuation device being configured and arranged to cause the flexible backbone system to maneuver the tool in one or more directions responsive to action of the actuation device;
• wherein the axially extending members make use of both push and pull actuation;
• wherein said flexible backbone system further includes:
• a base member,
• an end member,
• one or more intermediate spacer members, and
• wherein the centrally located backbone members is secured to each of the base member, the end member and each of the intermediate spacer members;
• and
• wherein the each of the plurality of secondary backbone members is a flexible tubular member having an internal actuator wire disposed therein to maneuver the operably coupled tool, the flexible tubular members secured to the end member and slidably disposed through apertures in each of the one or more intermediate members and the base member.