Surgical unit, and delivery unit and method for delivering the surgical unit

Abstract

A surgical unit and surgical delivery unit are disclosed. The surgical unit comprises a grasping unit, a first gripable body connected to the grasping unit from a first end; and a flexible longitudinal element connected between a second end of the first gripable body and an anchoring unit; wherein the anchoring unit comprises a second gripable body and an anchor.

Description

SURGICAL UNIT, AND DELIVERY UNIT AND METHOD FOR DELIVERINGTHE SURGICAL UNITCROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of priority from U.S. Provisional Patent Application No. 63 / 527,033, filed on July 16, 2023, entitled “SURGICAL UNIT, AND DELIVERY UNIT AND METHOD FOR DELIVERING THE SURGICAL UNIT”, the contents of which are incorporated by reference herein in their entirety.FIELD OF THE INVENTION

[0002] The present invention relates generally to surgical units. More specifically, the present invention relates to a surgical unit, a delivery unit, and method for delivering the surgical unit.BACKGROUND OF THE INVENTION

[0003] Laparoscopic graspers are used extensively in minimally invasive surgery, primarily to lift and mobilize delicate anatomical tissues for better visualization and access. Typically, the grasper is used by a secondary surgeon to assist the main surgeon in the surgical process.

[0004] During surgery, it is necessary to lift, mobilize, retract, or hold an organ or tissue, to allow the main surgeon access, visibility, or support in the process of tissue dissection, resection, approximation etc. The grasper is entered into the abdominal cavity through a port (Trocar) placed in a predetermined location. In order to perform the grasping services, the user must continuously hold the organ or tissue in position to actively support the surgical operation. Such activity requires continuous occupancy of the port as well as a large space in the surgical operating environment, resulting in additional various resources during surgery.

[0005] In order to minimize the required resources, commonly used designed surgical retractors are capable of providing certain organ or tissue positioning without the need for a surgeon to continuously grip the organ into position. Some of the retractors even minimize the port occupation and surgeon intervention, thus making better use of the limited resources in the operation room (e.g., surgeon hands, ports, and tools).

[0006] Accordingly, there is an ongoing need for surgical tools that require fewer resources in the operation room, improve surgical flexibility and technique, increase patient safety, facilitate better surgical technique, and reduce overall costs.SUMMARY OF THE INVENTION

[0007] Some aspects of the invention a surgical unit comprising: a grasping unit, a first gripable body connected to the grasping unit from a first end; and a flexible longitudinal element connected between a second end of the first gripable body and an anchoring unit; wherein the anchoring unit comprises a second gripable body and an anchor.

[0008] In some embodiments, a diameter of the first gripable body is larger than the diameter of the second gripable body. In some embodiments, a ratio between diameters of the first and second gripable body’s is between 1.05 to 1.25. In some embodiments, the grasping unit comprises: a grasping spring; and a surgical tip. In some embodiments, the surgical tip is detachably connected to the grasping spring. In some embodiments, the surgical tip is and selected from: a grasper, a blade, a clamp, cauterization tip, and scissors.

[0009] In some embodiments, the flexible longitudinal element is selected from, a wire, a cable, a chain, and a strip. In some embodiments, the flexible longitudinal element is coated with a biocompatible coating. In some embodiments, a length of the flexible longitudinal element is between 0.5 to 10 cm. In some embodiments, the anchor comprises anchoring jaws connected to the anchoring unit’s body. In some embodiments, the anchoring unit’s body comprises a spring.

[0010] Some aspects pf the invention are related a surgical delivery unit, for delivering a surgical unit; comprising: a delivery sleeve, a grasping unit puller comprising a first tube configured to freely slide inside the delivery sleeve, and a first gripper located at a distal end of the first tube and configured to grip a first gripable body; an anchoring unit puller comprising a second tube configured to freely slide inside the first tube; and a second gripper located at a distal end of the second tube and configured to grip a second gripable body; and a control trigger, configured to control the grasping unit puller to maneuver a grasping unit comprising the first gripable body and control the anchoring unit puller to maneuver an anchoring unit comprising the second gripable body.

[0011] In some embodiments, the control trigger is selected from; a mechanical trigger, an electro-mechanical trigger, and a robotic trigger. In some embodiments, the control triggercomprises two sub-triggers: a first sub-trigger for controlling the grasping unit puller; and a second sub-trigger for controlling the anchoring unit puller. In some embodiments, each one of the first and second grippers comprises two or more arms each comprising an indentation for grasping a gripable body. In some embodiments, the anchoring unit is connected to the grasping unit via a flexible longitudinal element to form a surgical unit, and wherein the surgical delivery unit further comprises a magazine for loading surgical delivery units into the sleeve.

[0012] In some embodiments, the anchoring unit is connected to the grasping unit via a flexible longitudinal element to form a surgical unit, and wherein the sleeve is preloaded with the surgical unit, such that the first gripper grips the first gripable body, and the second parabolic gripper grasps the second gripable body. In some embodiments, the sleeve is detachably connected to the control trigger at a proximal end of the sleeve. In some embodiments, at least one of, the first tube and the second tube is detachably connected to the control trigger at a proximal end of each tube. In some embodiments, the length of the sleeve is between 0.5 to 60 cm.

[0013] Some aspects of the invention are related to a surgical method comprising: inserting a sleeve of the surgical delivery unit according to any one the embodiments disclosed herein, to a body cavity, when the surgical delivery unit is loaded with a surgical unit, wherein the surgical unit comprises: the grasping unit; the first gripable body connected to the grasping unit from a first end; the flexible longitudinal element connected between a second end of the first gripable body and an anchoring unit; wherein the anchoring unit comprises the second gripable body and an anchor, maneuvering the distal end of the sleeve to a first location in the body cavity; controlling the grasping unit to, exit the sleeve and grasp a first tissue at the first location, using the control trigger; and maneuvering the distal end of the sleeve to a second location in the body cavity; and controlling the anchoring unit to exit the sleeve and anchor the surgical unit to a second tissue and the second location.

[0014] In some embodiments, the method further comprises controlling the first gripper of the grasping unit puller, to grip the first gripable body, thereby maneuvering the grasping unit.BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The subject matter regarded as the invention is particularly pointed out and distinctly claimed in the concluding portion of the specification. The invention, however, both as toorganization and method of operation, together with objects, features, and advantages thereof, may best be understood by reference to the following detailed description when read with the accompanying drawings in which:

[0016] Fig. 1 is an illustration of a surgical unit according to some embodiments of the invention;

[0017] Fig. 2 is an illustration of a delivery unit for delivering the surgical unit according to some embodiments of the invention;

[0018] Figs. 3 A, 3B and 3C are illustrations of several control triggers for the delivery unit according to some embodiments of the invention;

[0019] Fig. 4 is a flowchart of a surgical method according to some embodiments of the invention; and

[0020] Figs. 5A, 5B, 5C, and 5D are illustrations of several steps in the surgical method according to some embodiments of the invention.

[0021] It will be appreciated that for simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements for clarity. Further, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements.DETAILED DESCRIPTION OF THE PRESENT INVENTION

[0022] One skilled in the art will realize the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The foregoing embodiments are therefore to be considered in all respects illustrative rather than limiting of the invention described herein. Scope of the invention is thus indicated by the appended claims, rather than by the foregoing description, and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

[0023] Reference is now made to Fig. 1 which is an illustration of a surgical unit according to some embodiments of the invention. A surgical unit 10 may be configured to grasp, lift, mobilize, retract, or hold an organ or tissue, as discussed with respect to the surgical method of Figs. 4 and 5A-5D. Surgical unit 10 may include a grasping unit 20, a flexible longitudinal element 30, and an anchoring unit 40. In some embodiments, surgical unit 10 may further include a first gripable body 25 connected to grasping unit 20 from a first end 24. In someembodiments, gripable body 25 may have any gripable shape, such as but not limited to, a spherical structure, a bulbous structure, cubic connector, 3D hexagonal shape, prolate spheroid shape, any faceted 3D shape, ridges, and the like.

[0024] As used herein, a gripable body includes any body having sufficient volume to be gripped by a corresponding gripper (e.g., grippers 125 and 145 discussed herein below). A gripable body may lack any structure that may be caught in a surrounding tissue, such as, a hook, a pin, and the like.

[0025] In some embodiments, grasping unit 20 may include a grasping spring 23 and a surgical tip 21. Surgical tip 21 may be detachably connected to grasping spring 23, as to allow a user to replace surgical tip 21 according to the surgery requirements. For example, surgical tip 21 is interchangeable and may be selected from a grasper, a blade, a clamp, and the like.

[0026] In some embodiments, flexible longitudinal element 30 may be connected between a second end 26 of first gripable body 25 and anchoring unit 40. In some embodiments, flexible longitudinal element 30 may be selected from, a wire, a cable, a chain, a strip, and the like. In some embodiments, flexible longitudinal element 30 may be coated with a biocompatible coating. In some embodiments, a length of flexible longitudinal element 30 is between 0.5 to 10 cm, for example, between 0.5 to 2 cm, between 1 to 4 cm, between 1.5 to 5 cm, between 2.5 to 7 cm, between 4.5 to 10 and any value in between.

[0027] In some embodiments, anchoring unit 40 may include a second gripable body 45 and an anchor 41. Anchor 41 may comprise anchoring jaws connected to the anchoring unit’s 40 body 43, as illustrated, or may include any other type of anchoring element(s). In some embodiments, anchoring unit’s body 43 may comprise a spring, as illustrated, for allowing an easy grasping of second gripable body 45 by a delivery unit, as discussed herein below. Anchoring unit’s body 43 may be connected to second gripable body 45 form a first end 44 and to flexible longitudinal element 30 at a second end 46. In some embodiments, gripable body 45 may have any gripable shape, such as but not limited to, may have any gripable shape, such as but not limited to, a spherical structure, a bulbous structure, cubic connector, 3D hexagonal shape, prolate spheroid shape, any faceted 3D shape, ridges, and the like.

[0028] In some embodiments, a diameter of first gripable body 25 is larger than the diameter of second gripable body 45. For example, the ratio between diameters of the first and second gripable bodies 25 and 45 is between 1.05 to 1.2.

[0029] In some embodiments, grasping unit 20, first gripable body 25, flexible longitudinal element 30, anchoring unit 40, and second gripable body 45 may all be made from medical grade materials, for example, medical grade alloys, such as, stainless steel alloys SAE 302, 304V, 304LV and 316LVM, grade 2 titanium alloys and the like. Additionally, at least some of the elements may include a medical grade polymer. In some embodiments, at least some of, grasping unit 20, first gripable body 25, flexible longitudinal element 30, anchoring unit 40, and second gripable body 45 may be coated with a medical grade polymeric coating.

[0030] Reference is now made to Fig. 2 which is an illustration of a delivery unit for delivering the surgical unit according to some embodiments of the invention. A surgical delivery unit 100 may be configured to deliver and manipulate surgical unit 10 inside a body cavity, for example, inside the abdomen. Surgical delivery unit 100 may allow delivering surgical unit 10 from multiple angles (e.g., from 360°). Surgical delivery unit 100 may include a delivery sleeve 110, a grasping unit puller 120, a control trigger 130, and an anchoring unit puller 140.

[0031] Sleeve 110, may be any hollow tube configured to be inserted into a body cavity, for example, during a laparoscopic, endoscopic, or gastroscopic procedure. Sleeve 110 may be flexible or ridged, and may be dimensioned to encompass grasping unit puller 120. In some embodiments, sleeve 110 may be configured to be inserted via a standard medical port, for example, 3.5 mm port, 5 mm port, and 12 mm port. For example, sleeve 110 may have an internal diameter of 3.4 to 12 mm. Sleeve 110 may have a length of between 50 to 600 mm. In some embodiments, sleeve 110 may be detachably connected to control trigger 130 to be replaced on demand. In some embodiments, a replaceable sleeve 110 may be pre-loaded with surgical unit 10. Therefore, after each use a new sleeve 110 be pre-loaded with a new surgical unit 10 to be connected to control trigger 130.

[0032] Grasping unit puller 120 may include a first tube 122 configured to freely slide inside delivery sleeve 110, and a first gripper 125 located at a distal end 126 of first tube 122 and configured to grip first gripable body 25. In some embodiments, first gripper 125 comprises two or more arms 127 each comprising an indentation 128 for grasping gripable body 25. In some embodiments, indentation 128 may be a concaved spherical indentation (as illustrated) or may include any geometrical shape configured to grip first gripable body 25 (e.g., rectangular indentation, triangular indentation, hexagonal indentation and the like).

[0033] Anchoring unit puller 140 may include a second tube 142 configured to freely slide inside first tube 122; and a second gripper 145 located at a distal end 146 of second tube 142 and configured to grip second gripable body 45. In some embodiments, second gripper 145 comprises two or more arms 147 each comprising an indentation 148 for grasping gripable body 45. In some embodiments, indentation 148 may be a concaved spherical indentation (as illustrated) or may include any geometrical shape configured to grip first gripable body 45 (e.g., rectangular indentation, triangular indentation, hexagonal indentation and the like).

[0034] Control trigger 130 may be configured to control grasping unit puller 120 to maneuver grasping unit 20 comprising first gripable body 25 and control anchoring unit puller 140 to maneuver anchoring unit 40 comprising second gripable body 45. In some embodiments, control trigger 130 is selected from; a mechanical trigger, an electromechanical trigger, and a robotic trigger, as discussed with respect to Figs. 3A, 3B and 3C.

[0035] In some embodiments, control trigger 130 may include two sub-triggers (a) a first sub-trigger for controlling grasping unit puller 120, and (b) a second sub-trigger for controlling the anchoring unit puller.

[0036] Reference is now made to Figs. 3A, 3B and 3C which are illustrations of various control triggers according to some embodiments of the invention. Control trigger 130A is a mechanical control trigger. In some embodiments, control trigger 130A may include two sub-triggers as discussed herein above. For example, when surgical unit 10 is inserted in delivery unit 100 and first and second grippers 125 and 145 grape the corresponding first and second gripable bodies 25 and 45, a first press of trigger 131 may release first gripable body 25 from first gripper 125 and a second press of trigger 131 may release second gripable body 45 from second gripper 145. In such case, control trigger 130 may include a locking mechanism that ensures that only one puller is operated at a specific time. In some embodiments, control trigger 130 may include a selector (not illustrated) for selecting which puller to operate. In some embodiments, control trigger 130A may include a release button 139 for activating the release of surgical unit 10 from delivery unit 100.

[0037] In some embodiments, control trigger 130B may be an electro-mechanical trigger, comprising an electric motor 136. In some embodiments, control trigger 130B may include two sub-triggers each being operated by a different button. For example, the first sub-trigger using may operate grasping unit puller 120 by pressing a grasping unit button 132 and the second sub-trigger using may operate anchoring unit puller 140 by pressing a anchoring unitbutton 134. In some embodiments, a first press of grasping unit button 132 may release first gripable body 25 from first gripper 125 and a second press on grasping unit button 132 may recapture gripable body 25 by first gripper 125. In some embodiments, a first press of anchoring unit button 134 may release second gripable body 45 from second gripper 145 and a second press on grasping unit button 134 may recapture second gripable body 45 by second gripper 145.

[0038] In some embodiments, control trigger 130C may be a robotic trigger connected to robotic arm 138. Control trigger 130C may be autonomously be operated, for example, based on instructions received from an external computing device. The instructions may be received from a user via a user interface or may be determined by a controller based on signals received from sensors associated with the surgical procedure. For example, the instructions may be determined based on images of one or more organs and the body cavity received from an external imager (e.g., X-Ray, ultrasound, CT, MRI, etc.) or images received from one or more cameras located inside the body cavity. These one or more cameras may be able to capture at least a portion of the one or more organs and the at least a portion of the surrounding tissue.

[0039] In some embodiments, any one of control triggers 130A, 130B and 130C may include a magazine 136 for loading surgical units 10 into sleeve 110, as illustrated in Figs. 3B and 3C. Magazine 136 may be pre-loaded with number of surgical units 10.

[0040] Reference is now made to Fig. 4 which is a flowchart of a surgical method according to some embodiments of the invention. The surgical method may be performed using surgical device 10 and surgical delivery unit 100.

[0041] In step 410, a sleeve 110 of the surgical delivery unit 110 may be inserted into a body cavity, when surgical delivery unit 100 is loaded with surgical unit 10. In some embodiments, surgical delivery unit 100 may include a magazine (e.g., magazine 136) loaded with surgical units 10. In some embodiments, sleeve 110 of unit 100 may be pre- loaded with surgical unit 10. In some embodiments, a user may load surgical unit 10 into sleeve 110.

[0042] In a nonlimiting example, illustrated in Fig. 5 A inside sleeve 110 or grasper unit puller 120 securely grips first gripable body 25 tip connected to grasper unit 20, while anchoring unit puller 140 firmly holds second gripable body 45 of anchoring unit 40. In thisstate, grasper tips 21 are held in a closed position through the force of grasper spring 23, illustrated in Fig. 1.

[0043] In step 420, the distal end of the sleeve may be maneuvered to a first location in the body cavity. For example, the distal end of the sleeve 110 may be maneuvered to a first location 510 (e.g., a target organ) illustrated in Figs. 5C and 5D. For example, a user (e.g., a physician) may maneuver sleeve 110 using control triggers 130, 130A and 130B, under the supervision of an X-Ray imager, an ultrasound imager, and the like. In yet another example, a robotic control trigger 130C may be automatically maneuvered to first location 510 based on signals / images received from sensors / imagers.

[0044] In step 430, grasping unit 120 may be controlled to exit sleeve 110 and grasp a first tissue (e.g., an organ) at first location 510, using control trigger 130, 130A, 130B and 130C. For example, activating control trigger 130, 130A, 130B and 130C, grasper unit puller 120 retracts, drawing first gripable body 25 tip with it. Consequently, spring 23 compresses, causing grasper tips 21 to open, as illustrated in Fig. 5B. This may allow the user (e.g., a surgeon) to operate with grasper unit 20 as they would with a conventional grasper, facilitating familiar and intuitive handling during the procedure.

[0045] For retracting an organ the surgeon securely grasps the organ at location 510 using grasper tip 21 and then pull controller trigger 130. This action may cause grasper unit 20 to extend out of sleeve 110 while remaining engaged with the organ, while simultaneously moving anchoring unit 40 towards the distal end of sleeve 110, as illustrated in Figs. 5B and 5C.

[0046] In step 440, the distal end of sleeve 110 may be maneuvered to a second location 520 in the body cavity., for example, the second location may be the abdominal wall.

[0047] In step 450, anchoring unit 40 may be controlled to exit sleeve 110 and anchor surgical unit 10 to a second tissue at second location 520. For example, by activating the control trigger 130 (while the second gripable body 45 is locked by second gripper 145), anchoring unit puller 140 retracts, pulling second gripable body 45 along with it. As a result, spring 43 compresses, leading to the opening of the anchoring jaws 41, as illustrated in Fig. 5C.

[0048] In some embodiments, the surgeon may attach anchoring jaws 51 to the abdominal wall by pressing release button 139. This action allows surgical unit 10 to be released from sleeve 110 and initiates the retraction of the organ, as illustrated in Fig. 5D. With deliveryunit 100 no longer needed, it can be safely moved out of the abdominal cavity, while leaving the port available for the use of another surgical instrument if required. This may provide flexibility and convenience during the surgical procedure.

[0049] In some embodiments, at the end of the procedure, the Dual Trigger Switch is pressed, causing the Anchoring Tip Trigger to return to its initial position. This allows the anchoring unit to disconnect from the abdominal wall. Similarly, the grasper unit can be released, freeing the organ. Finally, the entire surgical unit can be safely removed from the abdomen. This sequence of actions ensures a systematic and efficient completion of the surgical procedure.

[0050] Unless explicitly stated, the method embodiments described herein are not constrained to a particular order or sequence. Furthermore, all formulas described herein are intended as examples only and other or different formulas may be used. Additionally, some of the described method embodiments or elements thereof may occur or be performed at the same point in time.

[0051] While certain features of the invention have been illustrated and described herein, many modifications, substitutions, changes, and equivalents may occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.

[0052] Various embodiments have been presented. Each of these embodiments may of course include features from other embodiments presented, and embodiments not specifically described may include various features described herein.

Claims

CLAIMS1. A surgical unit comprising: a grasping unit; a first gripable body connected to the grasping unit from a first end; and a flexible longitudinal element connected between a second end of the first gripable body and an anchoring unit; wherein the anchoring unit comprises a second gripable body and an anchor.

2. The surgical unit of claim 1, wherein a diameter of the first gripable body is larger than the diameter of the second gripable body.

3. The surgical unit of claim 1 or claim 2, wherein a ratio between diameters of the first and second gripable body’s is between 1.05 to 1.25.

4. The surgical unit of claim 1 or claim 2, wherein the grasping unit comprises: a grasping spring; and a surgical tip.

5. The surgical unit of claim 3, wherein the surgical tip is detachably connected to the grasping spring.

6. The surgical unit of claim 4, wherein the surgical tip is and selected from: a grasper, a blade, a clamp, cauterization tip, and scissors.

7. The surgical unit according to any one of claims 1 to 5, wherein the flexible longitudinal element is selected from, a wire, a cable, a chain, and a strip.

8. The surgical unit of claim 6, wherein the flexible longitudinal element is coated with a biocompatible coating.

9. The surgical unit according to any one of claims 1 to 8, wherein a length of the flexible longitudinal element is between 0.5 to 10 cm.

10. The surgical unit according to any one of claims 1 to 9, wherein the anchor comprises anchoring jaws connected to the anchoring unit’s body.

11. The surgical unit of claim 8, wherein the anchoring unit’s body comprises a spring.

12. A surgical delivery unit, for delivering a surgical unit; comprising: a delivery sleeve,a grasping unit puller comprising a first tube configured to freely slide inside the delivery sleeve, and a first gripper located at a distal end of the first tube and configured to grip a first gripable body; an anchoring unit puller comprising a second tube configured to freely slide inside the first tube; and a second gripper located at a distal end of the second tube and configured to grip a second gripable body; and a control trigger, configured to control the grasping unit puller to maneuver a grasping unit comprising the first gripable body and control the anchoring unit puller to maneuver an anchoring unit comprising the second gripable body.

13. The surgical delivery unit of claim 12, wherein the control trigger is selected from; a mechanical trigger, an electro-mechanical trigger, and a robotic trigger.

14. The surgical delivery unit of claim 12 or claim 13, wherein the control trigger comprises two sub-triggers: a first sub-trigger for controlling the grasping unit puller; and a second sub-trigger for controlling the anchoring unit puller.

15. The surgical delivery unit according to any one of claims 12 to 14, wherein each one of the first and second grippers comprises two or more arms each comprising an indentation for grasping a gripable body.

16. The surgical delivery unit according to any one of claims 12 to 15, wherein the anchoring unit is connected to the grasping unit via a flexible longitudinal element to form a surgical unit, and wherein the surgical delivery unit further comprises a magazine for loading surgical delivery units into the sleeve.

17. The surgical delivery unit according to any one of claims 12 to 15, wherein the anchoring unit is connected to the grasping unit via a flexible longitudinal element to form a surgical unit, and wherein the sleeve is preloaded with the surgical unit, such that the first gripper grips the first gripable body, and the second parabolic gripper grasps the second gripable body.

18. The surgical delivery unit according to any one of claims 12 to 17, wherein the sleeve is detachably connected to the control trigger at a proximal end of the sleeve.

19. The surgical delivery unit according to any one of claims 12 to 18, wherein at least one of, the first tube and the second tube is detachably connected to the control trigger at a proximal end of each tube.

20. The surgical delivery unit according to any one of claims 12 to 19, wherein the length of the sleeve is between 0.5 to 60 cm.

21. A surgical method comprising: inserting a sleeve of the surgical delivery unit according to any one of claims 12 to 20, to a body cavity, when the surgical delivery unit is loaded with a surgical unit, wherein the surgical unit comprises: the grasping unit; the first gripable body connected to the grasping unit from a first end; the flexible longitudinal element connected between a second end of the first gripable body and an anchoring unit; wherein the anchoring unit comprises the second gripable body and an anchor, maneuvering the distal end of the sleeve to a first location in the body cavity; controlling the grasping unit to, exit the sleeve and grasp a first tissue at the first location, using the control trigger; and maneuvering the distal end of the sleeve to a second location in the body cavity; and controlling the anchoring unit to exit the sleeve and anchor the surgical unit to a second tissue and the second location.

22. The method of claim 21, further comprising: controlling the first gripper of the grasping unit puller, to regrasp the first gripable body, thereby maneuvering the grasping unit.

Images