公开(公告)号：US20210015514A1

公开(公告)日：2021-01-21

申请号：US16623027

申请日：2018-06-08

Applicant: Norwegian University of Science and Technology

Inventor： Per Even STORLI ,  Lars Cato REKSTAD ,  Brynjulf YSTGAARD

IPC: A61B17/29 ,  A61B17/28 ,  A61B17/22

Abstract: A surgical retractor tool for removing an object from the stomach or from the oesophagus. The tool includes a flexible steerable tube for insertion into the body via the oral cavity and a gripper at the distal end of the tube for gripping an object in the stomach or the oesophagus in order to allow for removal of the object from the stomach or the oesophagus. The gripper includes first and second rotatable gripper surfaces and a clamping mechanism for moving the gripper surfaces to clamp the object. The rotatable gripper surfaces are arranged to rotate relative to the tube in order to allow a longitudinal axis of a gripped object to move into alignment with a longitudinal axis of the tube.