CONTROL MEANS

摘要

This invention relates to control means and actuators (1) with feed-back sensors (5) suitable for use in tele-operated systems, especially surgical tools and endoscopes. A membrane (9) is provided to flex with an operator's finger, and a sensor (20) responsive to longitudinal flexing of the membrane produces an output signal dependent on the position of the finger. The membrane (9) covers the finger like a glove, and extends across the back of the hand. The sensor (20) preferably comprises an optic fibre (13). The actuator (1) is fluid-operated and comprises a corrugated tube (7) with a length-restraining member (8) along one side so that the tube curves when it is extended by internal fluid pressure. A feedback sensor (5) is responsive to the position of the tube (7) and/or lateral force experienced by the tube (7) when it engages an external object. A feedback signal from the sensor (5) operates a feedback force generator (3) in contact with the operator's finger.