Position control apparatus for e.g. endoscope, has extensible unit with shape memory alloy to expand and contract along z-axis, and feedback mechanism to control heating unit that controls temperature of nitinol wire

摘要

The apparatus has an extensible unit extending and contracting along depth or z-axis and comprising nitinol wire (28) locatable to expand and contract along the z-axis. A heating unit controls a temperature of the nitinol wire. A feedback mechanism controlling the heating unit is responsive to variations in the apparatus position that is controllable by the heating unit and stabilized by the mechanism. Independent claims are also included for the following: (A) a endoscope with a position control apparatus (B) a colonoscope with a position control apparatus (C) a method of providing positioning control of a position along an axis (D) a method of performing endoscopy or colonoscopy of a site.