Single-port laparoscopic access system with external tool support

摘要

A system for performing a single port laparoscopic procedure includes a deployment frame and a plurality of tools. The tool is pivotally mounted on the frame and has an end effector that is arranged to be translatable and rotatable within the tool. A handle at the proximal end of the tool controls an end effector at the distal end of the tool. The movement of the tool relative to the frame is constrained to remain in a fixed geometric relationship that prevents the tools from interfering with each other during the laparoscopic procedure.