| 摘要 |
The invention is directed to a robotic medical system, comprising a catheter having a flexible elongate shaft (30, KA, KB, KC) with a plurality of bendable segments (42, 01, 02, 03) along the catheter; a plurality of actuators (26, A1, A2, A3) for independently bending the bendable segments (42, O1, 02, 03); an input device (A, B, C, D, E), remote from the actuators (26, A1, A2, A3), for generating at least one command; and a controller (CT) for directing the actuators (26, A1, A2, A3) to independently bend the bendable segments (42, O1, 02, 03) in response to the at least one command. |
