Page 380 - Flexible Robotics in Medicine
P. 380
Robotic transluminal Pan-and-Tilt Scope 373
Figure 16.10
Stepper motor rotated at an angle of 90 degrees (clockwise). The wire alignment is changed, and
hence, the tip also rotates, as seen by the change in the configuration of the tip.
Figure 16.11
(Left) the position of the tip before rotating. (Right) The position of the tip after rotating. X mark
shows that the sheath does not rotate.
