A medical instrument assembly and robotic medical system are provided. The assembly comprises a shaft, a tool carried by the distal end of the shaft for performing a medical procedure on a patient, a controllably bendable section associated with shaft and disposed proximal to the tool, an actuation element...http://www.google.fr/patents/US7744608?utm_source=gb-gplus-shareBrevet US7744608 - Robotically controlled medical instrument
