Systems, devices and methods are provided for endoscopic procedures
involving tissue manipulations beyond the capabilities of traditional
endoscopic instruments. Embodiments of the systems include an elongated
main body having a scope therethrough and at least one steerable tool arm
which extends from the distal end of the main body. In preferred
embodiments, the system includes two tool arms, each arm steerable to
form a curve laterally outward which then bends laterally inward so that
the arms form an angular shape. In addition, end effectors extend from
the distal ends of each tool arm for use in manipulation of tissue. The
angular shape brings the end effectors together in view of the scope for
cooperative movements which are continuously visible by the surgeon. In
addition, the tool arms may be steerable in any additional direction and
may be rotateable to allow grasping, elevation and more complex
manipulation of tissue.
