| 摘要 |
It is one object of the present invention to provide an endoscope positioning system (EPS) for maneuvering, orienting and positioning an endoscope relatively to an organ being operated within a patient's body. The EPS is especially used during orthopedic operations such that the organ is constantly moved during the operation. The EPS includes: at least four freedom degree mechanisms (FDFM) that are adapted to actuate the distal portion of the endoscope by maneuvering the proximal portion of the endoscope; and at least one body adapter gripper adapted to reversibly and firmly attach the EPS to the patient's body. The FDFM includes at least a first, second, third and fourth means for providing the four degrees of freedom. The means of first degree of freedom is a rotation sub-mechanism adapted to rotate the endoscope around its longitudinal axis. The means of second degree of freedom is a tilting sub-mechanism. The means of third degree of freedom is an arch sub-mechanism. The means of fourth degree of freedom is a zoom mechanism. Each of the first, second, third and fourth degree of freedom is characterized by an independent movement. The EPS is conformed to the movements of the organ by the gripper such that the orientation of the endoscope is adjustable accordingly to the movement.
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