Tendon-driven endoscope and methods of insertion

摘要: A steerable, tendon-driven endoscope is described herein. The has an elongated body with a manually or selectively steerable distal portion and automatically controlled, segmented proximal portion. the segment of controllable are actuated by at least two tendons. As advanced, user maneuvers portion, motion controller actuates tendons in so that assumes selected curve By this method curves propagated along largely conforms to pathway selected. When withdrawn proximally, can propagate distally body. This allows negotiate tortuous desired path through around between organs within