Patent ID: 9457168
Filing Date: 2016-10-04
CPC Classification: A61B,A61M,B33Y

Claim Text:
1. A method for performing a medical procedure, comprising: maneuvering a distal end portion of a first elongate flexible instrument within an anatomical workspace in the patient's body, wherein the first instrument comprises: maneuvering a distal end portion of a second elongate flexible instrument within the anatomical workspace by controlled movement of one or more drive elements of a second instrument driver that are operatively coupled to a corresponding one or more control elements extending through the second instrument to cause a desired bending of a distal end portion of the second instrument; and extending a first tool out of a distal opening of the first instrument, wherein the first tool is coupled to the guide, and wherein extending the first tool out of the distal opening of the first instrument comprises moving the guide interface relative to the sheath interface such that a portion of the first tool extends out of a distal opening of the sheath in communication with the working lumen of the sheath.