| abstract |
For can the robotic manipulator (100) of musical form endoscope operation, controller (300) and a system, wherein manipulator (100) comprises flexible member, is configured to be coupled to an endoscope; And arm, be connected to flexible member and can move along with flexible member; Wherein, flexible member has one first end and is connected to described arm, and one second end, can be connected to a controller (300) and move control with the physics allowing the physics of described arm and move by controller (300). |