Patent ID: 9532794
Date: 2017-01-03
CPC Classifications: A61B

Claim:
1. A handheld medical manipulator comprising: an end effector that performs motions with respect to at least two different axes, and that is inserted in a body cavity during operation of the medical manipulator; a cylindrical motor including a longitudinal axis, the motor driving at least a part of the end effector, the motor remaining outside the body cavity during operation of the medical manipulator and being mounted on at least one bracket and, the motor including a drive mechanism and a drive shaft that extends substantially perpendicular to the longitudinal axis of the motor, the drive shaft including a driven mechanism that engages the drive mechanism of the motor; a connector shaft that interconnects the bracket and the end effector, a longitudinal axis of the connector shaft extending substantially parallel to the longitudinal axis of the motor; and a grip handle that is gripped during operation of the medical manipulator, the grip handle being positioned on a proximal side of the medical manipulator.