Multiple flexible and steerable elongate instruments for minimally invasive operations

摘要: Configurations are described for conducting minimally invasive medical interventions utilizing elongate robotically controlled instruments and assemblies thereof. In one embodiment, a junction sheath may be utilized to facilitate surgical triangulation of two interventional instrument assemblies, while also directing them the theater through minimal single wound or port. One more drivers, master input devices comprising an operator workstation, independently simultaneously control multiple degrees freedom pertinent each assembly.