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Tendon-driven endoscope and methods of insertion

  • US 20030045778A1
  • Filed: 08/27/2002
  • Published: 03/06/2003
  • Est. Priority Date: 04/03/2000
  • Status: Active Grant
First Claim
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1. An apparatus for insertion into a body cavity comprising:

  • an elongated body comprising a plurality of articulatable segments and a steerable distal portion;

    a plurality of tensioning members attached to at least a majority of said segments;

    each of said segments being configurable to assume a selected shape along an arbitrary path by actuation of the tensioning members attached thereto, wherein each of said segments is articulatable by at least one of said tensioning members;

    said tensioning members extending from said segments to the proximal end of said elongated body and being coupled to an external control unit; and

    wherein said segments adjacent to one another are adapted to assume a selected shape of the adjacent segment by actuation of said tensioning members when the elongated body is advanced distally or proximally.

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