| 摘要 |
An assembly (1) comprising at least one steerable invasive instrument (10,20) and an access device (30) for introducing the instrument into an object via an access port of the object. The steerable instrument (10,20) comprises an elongated tubular body (18) having a proximal end part (11,21) comprising at least one flexible zone (14,15,24,25), a distal end part (13,23) comprising at least one flexible zone (16,17,26,27), and a rigid intermediate part (12,22). The instrument further comprises a steering arrangement for translating a deflection of at least a part of the proximal end part (11,21) relative to the rigid intermediate part (12,22) into a related deflection of at least a part of the distal end part (13,23). The access device (30) comprises a deflection setting arrangement for setting at least one angle between at least a part of the proximal end part (11,21) and the rigid intermediate part (12,22) of the instrument. |
