Daniel T. Wallace,Dale Bergman,Ruchi Choksi,Aaron Grogan
申请号：
US13310596
公开号：
US20130035537A1
申请日:
2011.12.02
申请国别(地区):
US
年份:
2013
代理人:
摘要：
A method of manipulating an elongate member in at least two degrees of freedom includes holding an elongate member between two rotary members that define respective rotational axes, the elongate member having a flexible proximal portion, a distal rigid needle attached to the proximal portion, and an operative element for delivering energy, the needle having a distal port, actuating at least one of the rotary members in a rotational direction about its rotational axis to generate a corresponding linear motion of the elongate member along a longitudinal axis of the elongate member, and actuating at least one of the rotary members in a linear direction along its rotational axis to generate a corresponding rotational motion of the elongate member about the longitudinal axis of the elongate member.
