| 摘要 |
A method for variably flexing and steering an insertion device that receives an instrument, which comprises providing a hollow body having tendons disposed therewithin and a distal end, changing a condition of the hollow body by selectively applying suction to create a vacuum in the hollow body to place the hollow body in a relatively stiff condition and relieving the vacuum to place the hollow body in a relatively flexible condition, maintaining the hollow body in the relatively flexible and relatively stiff conditions with the tendons, the vacuum created by the applied suction frictionally locking the tendons in place in the relatively stiff condition, and individually adjusting at least one of the tendons in length to steer the distal end of the hollow body. |
