http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-6491626-B1

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filingDate 2000-04-13^^<http://www.w3.org/2001/XMLSchema#date>
grantDate 2002-12-10^^<http://www.w3.org/2001/XMLSchema#date>
inventor http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_d003b4efd3c9bc30b66eaea931f9cdcf
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publicationDate 2002-12-10^^<http://www.w3.org/2001/XMLSchema#date>
publicationNumber US-6491626-B1
titleOfInvention Articulation systems for positioning minimally invasive surgical tools
abstract An articulator for positioning a tool during a surgical procedure, comprising: a longitudinally extending body; a plurality of transverse grooves extending inwardly from opposite lateral sides of the longitudinally extending body; and a plurality of recesses extending inwardly from the opposite lateral sides of the longitudinally extending body, the plurality of recesses defining an articulation control wire lumen and a tool control wire lumen, and wherein the tool control lumen is disposed collinear with a neutral bending axis of the articulator.
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