Method and devices for hysterectomy

Abstract

A device sized and shaped for insertion into a body includes at least one mechanical limb including a support segment, a first flexible section extending from the support segment and terminating in a coupling section, and a second flexible section extending from the coupling section and terminating in a tool or an connector for a tool. One or more of the flexible sections is bendable by at least 120°. A long axis length of the first flexible section is at least double a maximum extent of the first flexible section perpendicular to a flexible section long axis. A long axis length of the second flexible section is at least double a maximum extent of the second flexible section perpendicular to a flexible section long axis.

1 . (canceled) 
     
     
         2 . A device sized and shaped for insertion into a body, comprising:
 at least one mechanical limb comprising:
 a first limb member comprising:
 a support segment; 
 a first coupling segment; and 
 a first flexible section,
 wherein the first flexible section includes: 
 a first set of links, 
 wherein the first set of links includes an articulated configuration of pivoting links configured to allow the first flexible section to bend along a first bending plane by at least 120°, 
 
 wherein the first flexible section is configured to be rotatable about a long axis of the support segment; 
 
 a second limb member comprising:
 a second coupling segment; and 
 a second flexible section,
 wherein the second flexible section includes: 
 a second set of links, 
 wherein the second set of links includes another articulated configuration of pivoting links configured to allow the second flexible section to bend along a second bending plane by at least 120°, 
 
 wherein the second flexible section is configured to be rotatable about a long axis of the first coupling segment; 
 wherein the second limb member extends from the first coupling segment and terminates at the second coupling segment; 
 wherein the first flexible section is configured to bend and rotate independently from bending and rotation of the second flexible section, wherein the second flexible section is configured to bend and rotate independently from bending and rotation of the first flexible section; and 
 
 a tool,
 wherein the tool extends from the second coupling segment. 
 
   
     
     
         3 . The device of  claim 2 , wherein at least a portion of the second limb member is received within the first limb member. 
     
     
         4 . The device of  claim 3 , wherein upon bending of the first flexible section, said portion is configured to bend together with the first flexible section. 
     
     
         5 . The device of  claim 4 , wherein said portion comprises a torque transfer section. 
     
     
         6 . The device of  claim 2 , wherein at least a portion of the second limb member is received within the first flexible section. 
     
     
         7 . The device of  claim 6 , wherein upon bending of the first flexible section, said portion is configured to bend together with the first flexible section. 
     
     
         8 . The device of  claim 7 , wherein said portion comprises a torque transfer section. 
     
     
         9 . The device of  claim 2 , wherein the articulated configuration of pivoting links is configured to allow the first flexible section to bend along the first bending plane by at least 180°. 
     
     
         10 . The device of  claim 2 , wherein the another articulated configuration of pivoting links is configured to allow the second flexible section to bend along the second bending plane by at least 180°. 
     
     
         11 . The device of  claim 2 , wherein the articulated configuration of pivoting links and the another articulated configuration of pivoting links are configured to allow the first flexible section and the second flexible section to bend along the first bending plane or along the second bending plane to a combined total angle of at least 180°. 
     
     
         12 . The device of  claim 2 , wherein the first flexible section is configured to bend in only one bending direction, from a straight configuration, along the first bending plane. 
     
     
         13 . The device of  claim 2 , wherein the second flexible section is configured to bend in only one bending direction, from a straight configuration, along the second bending plane. 
     
     
         14 . The device of  claim 2 , wherein the tool comprises an electrosurgery tip. 
     
     
         15 . The device of  claim 14 , further comprising a second mechanical limb, wherein the second mechanical limb comprises another electrosurgery tip. 
     
     
         16 . The device of  claim 14 , further comprising a second mechanical limb comprising a camera. 
     
     
         17 . The device of  claim 2 , wherein said articulated configuration of pivoting links comprises a stacked configuration of links. 
     
     
         18 . The device of  claim 2 , wherein said another articulated configuration of pivoting links comprises a stacked configuration of links. 
     
     
         19 . A mechanical limb for a surgical device sized and shaped for insertion into a body, comprising:
 a first limb member comprising:
 a support segment; 
 a first coupling segment; and 
 a first flexible section,
 wherein the first flexible section includes:
 a first set of links, 
 wherein the first set of links includes an articulated configuration of pivoting links configured to allow the first flexible section to bend along a first bending plane by at least 120°, 
 
 
 wherein the first flexible section is configured to be rotatable about a long axis of the support segment; 
   a second limb member comprising:
 a second coupling segment; and 
 a second flexible section,
 wherein the second flexible section includes:
 a second set of links, 
 wherein the second set of links includes another articulated configuration of pivoting links configured to allow the second flexible section to bend along a second bending plane by at least 120°, 
 
 
 wherein the second flexible section is configured to be rotatable about a long axis of the first coupling segment; 
 wherein the second limb member extends from the first coupling segment and terminates at the second coupling segment; 
 wherein the first flexible section is configured to bend and rotate independently from bending and rotation of the second flexible section, 
 wherein the second flexible section is configured to bend and rotate independently from bending and rotation of the first flexible section; and 
   a tool,
 wherein the tool extends from the second coupling segment. 
   
     
     
         20 . The mechanical limb of  claim 19 , wherein at least a portion of the second limb member is received within the first limb member. 
     
     
         21 . The mechanical limb of  claim 20 , wherein said portion comprises a torque transfer section.