| 摘要 |
The present invention discloses cost effective endoscope positioning system (EPS), comprising of an at least four freedom degree mechanism (FDFM) which actuates the distal portion of an endoscope by maneuvering the proximal portion of the endoscope. The FDFM comprises at least a first, second, third and forth means for providing degrees of freedom: a means of first degree of freedom is a rotation sub-mechanism; a means of second degree of freedom is a tilting sub-mechanism; a means of third degree of freedom is an arch sub-mechanism; and a means of forth degree of freedom is a zoom mechanism. The invention also presents a method of manipulating an endoscope in at least four degrees of freedom by the EPS. This method comprises steps selected from a group consisting of providing at least four freedom degree mechanism (FDFM); and actuating the distal portion of the endoscope by maneuvering the proximal portion of said endoscope. A method of performing an endoscopic surgery is also disclosed. |
