A temperature-dependent, variable-stiffness endoscopic robotic manipulator with active heating and cooling

• Main Authors: Le, Huu Minh, Phan, Phuoc Thien, Cao, Lin, Liu, Jiajun, Phee, Soo Jay
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Mechanical engineering::Robots; Minimally Invasive Surgery; Natural Orifice Transluminal Endoscopic Surgery
• Online Access: https://hdl.handle.net/10356/137932
• Institution: Nanyang Technological University

In flexible endoscopy, the endoscope needs to be sufficiently flexible to go through the tortuous paths inside the human body and meanwhile be stiff enough to withstand external payloads without unwanted tip bending during operation. Thus, an endoscope whose stiffness can be adjusted on command is n...