Carolyn M. Fenech,Eleadin Castaneda,Benjamin E. Goodman
申请号：
US15329916
公开号：
US10413372B2
申请日:
2015.07.14
申请国别(地区):
US
年份:
2019
代理人:
摘要：
A guiding apparatus includes a plurality of collapsible support members, a plurality of retraction assemblies, each of the plurality of retraction assemblies coupled to a respective one of the plurality of collapsible support members, and a connector adapted to connect the plurality of retraction assemblies to a teleoperational manipulator arm. The plurality of collapsible support members have an extended configuration in which the plurality of collapsible support members are arranged to form a channel extending along a longitudinal axis, the channel sized to receive an elongated instrument. The plurality of collapsible support members have a collapsed configuration in which each of the plurality of collapsible support members is retracted within a respective coupled retraction assembly as the elongated instrument is advanced along the longitudinal axis.
