Patent ID: 8062211

Claim:
A minimally invasive surgical system comprising: a guide tube, wherein the guide tube comprises a longitudinal axis, a first bore, a second bore, and a slot that connects the first bore and the second bore, and wherein the first bore, the second bore, and the slot extend through the guide tube in the direction of the longitudinal axis; and a surgical instrument that extends through the guide tube, wherein the surgical instrument comprises: an end effector coupled to a distal end of the surgical instrument; and a fixed shape U-turn mechanism that is positioned beyond a distal end of the guide tube, wherein the fixed shape U-turn mechanism is dedicated to transmitting an actuating force through a fixed constant retrograde angle to the end effector, wherein the fixed shape U-turn mechanism has a fixed U-shape, and wherein the fixed shape U-turn mechanism passes through the guide tube in the fixed U-shape; wherein the first bore receives a proximal body segment of the surgical instrument as the surgical instrument is inserted through the guide tube; wherein the second bore receives a distal body segment of the surgical instrument as the surgical instrument is inserted through the guide tube; wherein as the surgical instrument passes through the guide tube, a first portion of the fixed shape U-turn mechanism passes through the slot, a second portion of the fixed shape U-turn mechanism passes through the first bore, and a third portion of the fixed shape U-turn mechanism passes through the second bore; and wherein the first portion of the fixed shape U-turn mechanism has a thickness smaller than a thickness of the second portion of the fixed shape U-turn mechanism and smaller than a thickness of the third portion of the fixed shape U-turn mechanism.