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Cable-driven flexible endoscope utilizing diamond-shaped perforations: FlexDiamond 55

Figure 3.7
Three-point bending test on the specimen to determine the flexibility of the diamond-cut
endoscope.

obstacle when the camera is in the extended mode. The camera is able to zoom up to 5 mm
(experimental data not shown).

3.4.3 Workspace visualization

Using MATLAB, we can visualize the workspace of the endoscope before and after the
zooming of the camera in the z-axis. Fig. 3.10A shows the hemispherical workspace of the
endoscope (which has 3 DOF) before the camera was retracted. Fig. 3.10B shows the
decreased workspace of the endoscope tip after the zooming segment is retracted. The small