Amos Cruz,Jonathan O'Keefe,Niklas Helmick,Jonathan E. Wilson
申请号：
US16678688
公开号：
US20200069300A1
申请日:
2019.11.08
申请国别(地区):
US
年份:
2020
代理人:
摘要：
Apparatus for performing a minimally-invasive procedure, the apparatus comprising: a shaft having a distal end and a proximal end； a handle attached to the proximal end of the shaft； and an end effector attached to the distal end of the shaft； wherein the shaft comprises a flexible portion, a first articulating portion and a second articulating portion, wherein the flexible portion extends distally from the handle, the first articulating portion extends distally from the flexible portion, and the second articulating portion extends distally from the first articulating portion； wherein at least one articulation cable extends from the handle to the first articulating portion, such that when tension is applied to the at least one articulation cable, the first articulating portion deflects； wherein a plurality of articulation cables extend from the handle to the second articulating portion, such that when tension is applied to at least one of the plurality of articulation cables, the second articulating portion deflects.
