Controllable instrument channel for min invasive surgery

摘要

The instrument channel has a number of actuators (2) embedded in the channel wall (1), which is made of a resilient material for defection in required radial directions, by operation of individual actuators or actuator groups. Pref. the momentary angular position of the instrument channel is detected by embedded switches or sensors, e.g. expansion measuring strips, or resistance measuring electrodes embedded in an electrically-conductive rubber forming the channel wall. The required curvature of the instrument channel may be entered via a second channel of similar configuration, bent into shape by the operator.