Abstract
We have proposed the concept of Curved Multi-Tube(CMT). In the previous paper, We reported a robot using CMT which aimed at pulling out blood from umbilical cord of fetus. In this paper, we present the development of a CMT system for treatments and inspections for solid organs like brain,liver,breast and prostate. By using CMT,the treatments and inspections with pinpont accuracy are possible in this sysytem. Then we will apply a CMT system to an endoscope.
