CPC A61B 34/30 (2016.02) [A61B 2017/00323 (2013.01); A61B 2017/00371 (2013.01); A61B 2034/301 (2016.02)] | 20 Claims |
1. A steerable overtube assembly for a robotic surgical system, comprising:
a steerable shaft having one or more instrument channels;
a control hub configured to mount to the steerable shaft;
a manual actuator extending from the control hub and configured to allow the steerable shaft to be manually steered by a user's hand; and
a robotic actuator housed by and/or extending from the control hub configured to connect to a robotic driver to allow robotic steering of the steerable shaft, wherein the manual actuator and the robotic actuator are coaxial and connected together such that robotic movement of the robotic actuator causes movement of the manual actuator.
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