Patent ID: 9179927
Filing Date: 2015-11-10
Classification: A61B

Abstract:
1. A surgical method, comprising: inserting a slave component of a surgical device into a body cavity; fixing an angular orientation of a body portion of the surgical device relative to the body cavity, the body portion being disposed between the slave component and a master component of the surgical device; wherein the surgical device includes a proximal elbow joint comprising a plurality of rods each having a terminal distal end seated in a distal retainer housing and a terminal proximal end seated in a proximal retainer housing; wherein the surgical device includes a distal elbow joint comprising a plurality of rods each having a terminal distal end seated in a distal retainer housing and a terminal proximal end seated in a proximal retainer housing; and while said angular orientation remains fixed, heaving and swaying the master component relative to the body portion at the proximal elbow joint by translating the proximal retainer housing of the proximal elbow joint with respect to the distal retainer housing of the proximal elbow joint to tilt the plurality of rods of the proximal elbow joint and thereby cause corresponding heaving and swaying movement of the slave component relative to the body portion at the distal elbow joint by translating the distal retainer housing of the distal elbow joint with respect to the proximal retainer housing of the distal elbow joint to tilt the plurality of rods of the distal elbow joint.