Patent ID: 9271720
Filing Date: 2016-03-01
CPC Classification: A61B

Claim Text:
1. A method for suturing soft tissue, the method comprising: inserting a bendable steerable arm in a straightened configuration through an incision, wherein the bendable steerable arm includes a plurality of interconnected links, each link having an elongated groove on a first face and an elongated projection on a second face opposite to the first face, the groove and projection defining first and second pivoting axes oriented at an angle in the range of 15-40 degrees relative to one another, changing the bendable steerable arm to a three dimensional curved corkscrew configuration by pivoting both the first and second pivoting axes of the bendable steerable arm; piercing the tissue; deploying a suture holder from a bore of the bendable steerable arm; moving the suture holder relative to the bendable steerable arm; and suturing the tissue.