| An endoscope is typically a 70-180 cm long flexible tube of 11mm diameter. Currently, endoscopic tools are positioned by sliding in and out, and by controlling the bending of the last 10 centimeters of the endoscope. This radius is too large for some tasks, and bending tends to displace surrounding tissue making positioning more difficult. The endo-platform, designed by Jeff Wendlandt, will allow finer positioning control for endoscopic tools. Closed-loop control of this device has been implemented. |
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