Richard J. Hendrick,Robert J. Webster, III,S. Duke Herrell,Philip J. Swaney,Ray Lathrop
申请号：
US15283775
公开号：
US10441371B2
申请日:
2016.10.03
申请国别(地区):
US
年份:
2019
代理人:
摘要：
A robotic surgical apparatus includes at least two tubes having a nested, concentric configuration with an inner tube positioned in an outer tube. The tubes are configured to deliver surgical therapy. A first tube carrier connected to the outer tube and a second tube carrier connected to the inner tube. The first tube carrier and its associated outer tube and the second tube carrier and its associated inner tube form a robotic arm assembly. An actuator for actuating the robotic arm assembly is configured to receive the robotic arm assembly via a tube insertion interface into which the robotic arm assembly can be inserted.
