Intuitive Surgical Operations, Inc.

Benjamin E Goodman

Carolyn M Fenech

Eleadin Castaneda

A guiding apparatus comprises a plurality of support members. Each of the plurality of support members has a curved profile to resist bending in at least one direction. The guiding apparatus also comprises a retraction system coupled to the plurality of support members. The plurality of support members has an extended configuration in which the plurality of support members is positioned in an arrangement to form a channel sized to receive an instrument. The plurality of support members has a retracted configuration in which each of the plurality of support members is retracted within the retraction system as the instrument is advanced along a longitudinal axis.

Guide apparatus for delivery of a flexible instrument and methods of use

A guiding apparatus includes a plurality of collapsible support members, a plurality of retraction assemblies, each of the plurality of retraction assemblies coupled to a respective one of the plurality of collapsible support members, and a connector adapted to connect the plurality of retraction assemblies to a teleoperational manipulator arm. The plurality of collapsible support members have an extended configuration in which the plurality of collapsible support members are arranged to form a channel extending along a longitudinal axis, the channel sized to receive an elongated instrument. The plurality of collapsible support members have a collapsed configuration in which each of the plurality of collapsible support members is retracted within a respective coupled retraction assembly as the elongated instrument is advanced along the longitudinal axis.

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Menlo Park, CA, United States of America

Benjamin E Goodman