| 摘要 |
An endoscope comprising a plurality of concatenated joints, each actuated by a negative coefficient of expansion material such as Ti Ni, is capable of performing highly dexterous maneuvers in three dimensions without built in torsional stiffness, and thereby minimizes invasive trauma. The Ti Ni actuators are coiled around the body of opposing joint halves and are capable of maximizing large angular motion while making the joint dimensions as compact as possible. The actuators also operate with low current and thereby minimize heat dissipation.
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