Patent ID: 11950864
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 16:
17. A device comprising:
a first input having a first degree of freedom and being coupled to a first mechanism, wherein the first input is configured to move the first mechanism in the first degree of freedom;
a second input having a second degree of freedom and being coupled to a second mechanism, wherein the second input is configured to move the second mechanism in the second degree of freedom;
a housing;
a catheter coupled to the second mechanism or the housing; and
an insert located within the second mechanism, an end of the insert being configured to be coupled to an instrument, wherein the instrument extends through at least part of the catheter;
wherein in response to the second mechanism being held stationary and the first mechanism being rotated, the insert is configured to move the instrument along a third degree of freedom corresponding to an insertion direction or a retraction direction, and
wherein the second mechanism or the housing of the device is configured to be coupled to the catheter through which the instrument is inserted.