| 摘要 |
A flexible forceps device includes an elongated, flexible body, a control assembly adjacent to the proximal end of the flexible body, and an effector assembly coupled to the distal end having a support piece and at least one movable element. A coaxial actuating assembly extends through a lumen of the flexible body and includes a flexible, hollow tube and a control wire. The hollow tube is substantially incompressible along its long axis and is coupled at its proximal end to the control assembly and at its distal end to the effector assembly. The control wire extends through the hollow tube and is linked at its proximal end to the control assembly and at its distal end to the effector assembly. A steering control means extends at least partially through a lumen in the flexible body and is linked at its proximal end to the control assembly and at its distal end near the distal end of the flexible body. Axial movement of the control wire by the control assembly results in movement of at least one movable element in the effector assembly relative to the support piece, with little movement of the flexible body. Axial movement of the steering control means by the control assembly results in lateral deflection of the flexible body with little movement of any movable elements in the effector assembly relative to the support piece. The hollow tube may optionally function as the steering control means. Further adaptations include torsional-stiffening means and sealing means. |
