Abstract
Several type of endoscope was developed for MIS (Minimally Invasive Surgery). This paper reports our efforts to develop endoscope with high degree-of-freedom. The paper presents three type of endoscope. Model A ; driving with gear and motor inside. Model B: driving with independence. Model C: driving with solidarity. Experiments were held to evaluate dexterity and mechanics with four parameters: bending angle, velocity of angle, theory and limited angle. The velocity of motor of model A is 70step/s. and others are 5step/s. the acceleration and deceleration of all model are 100000step/s. It resulted that model A shows most effective motion, but considered inner space of endoscope, type B is truly effective. Motion of Type C is not standard interval. But it's motion is sufficiently. it concluded model B is effective.
