A system, for endoscopic positioning, two or more elongate positioning parts 5 extending along the length of two or more axially adjacent actuators 2, and connected between a base 1 at a first end 6, and an end piece at a second end 7. Each actuator has a head 3 and a foot 4 with openings 6 which the positioning parts pass through. There is at least one first actuator 2a where the positioning parts are flexible bars 5a, or tubes 5a’, and at least one second actuator 2b, where the positioning parts are cables 5b routed through a number of spacers 10 with an elastic part 9 extending centrally along the length. Also claimed is a method of endoscopic system positioning by: determining a path; displacing the entire system axially along the path, forward and curving motions performed incrementally and coupled, and the motion being coupled into the system by a base. Where the curving motion takes place by means of two or more axially sequential actuators. A first tensile force actuator acting from the direction of the base using cable pulls in a star shape, and a second compressive or tensile actuator using tubes in a star shape.
System for endoscopic positioning
2024-07-31
Patent
Electronic Resource
English
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