公开(公告)号：WO2022236021A1

公开(公告)日：2022-11-10

申请号：PCT/US2022/028027

申请日：2022-05-06

Applicant: THE CLEVELAND CLINIC FOUNDATION

Inventor： ERIM, Tolga ,  GAO, Shengqiang ,  ERIM, Tanju

IPC: A61B17/29 ,  A61B18/14 ,  A61B17/12 ,  A61B17/3205 ,  A61B17/00

Abstract: An endoscopic instrument (10) containing a retractable tool (150, 152, 154) at its end that is articulated by engaging an actuator that moves pull wires (190) to angularly move the tip of the instrument along a plane for conducting a procedure at a target site. The tool (150, 152, 154) of instrument is linearly move from an extension position to a retracted position by another actuator. The instrument provide rotational control of the tool (150, 152, 154) and instrument tip portion (70) with a rotational actuator for rotating housings that carry both pull wires (190) and a conducting wire (160) connected to the tool (150, 152, 154).