| 主权项 |
1. A direct drive system, comprising:
a guide tube extending between a proximal end and a distal end including a distal face, the guide tube comprising at least one working channel extending from a proximal opening to at least one distal opening for the passage of at least one tool, the at least one working channel including a first distal opening defined by the distal face and a second distal opening proximal to the first distal opening, wherein each of the first distal opening and the second distal opening provides an exit through which the at least one tool may extend outside the guide tube; a first tool including an elongate body, a distal end effector, and a controller, wherein the controller is coupled to the end effector for transmitting force to the end effector, wherein the controller is configured to direct at least two degrees of freedom of the end effector; and an adjustable frame including a first body member coupled to a second body member, wherein the first body member is movable relative to the second body member, the frame being configured to support the first tool, wherein the controller of the first tool mates with the first body member of the frame and allows a user to move the controller relative to the guide tube while manipulating the at least two degrees of freedom of the end effector via the controller, and wherein the second body member is configured to be fixed relative to a patient. |
