Teleoperated surgical retractor system
"A minimally invasive surgical system includes a guide tube
and a telemanipulatively controlled surgical retractor instrument that
extends through the guide tube. The portion of the retractor instrument
that extends beyond the distal end of the guide tube includes several
links that can be steered. In some aspects, joints between the links
provide degrees of freedom in the same direction of movement. In some
aspects, a grasping end effector is coupled to the end of the retractor
instrument, and in further aspects the grasping end effector is coupled
by a passively rotating wrist mechanism that rotates as the retractor
instrument is moved while the end effector grasps tissue."
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