| 摘要 |
<p>The invention relates to a steerable active tubular structure and an endoscope made from said structure. The tubular structure comprises a stack of modular units which are articulated together, two successive modular units (30a, 30b) which are adapted to pivot on at least one transversal rotational axis (R,R'), and actuators made from elastic return means (41,42) in shape-memory material, the stiffness of which varies according to the temperature, which are mounted between the said successive modular units using a return means mounted between the two successive modular units on one side of their common rotational axis. When the actuator is inactive the elastic return means returns the two modular units to their alignment position, and when the actuator is active the two modular units are pivoted by heating to vary the stiffness of the elastic return means to reach the desired position.</p> |
