Abstract
Now, minimally invasive treatments have a key role in medical care. Especially, an endoscope and a catheter occupy an important place. It is important to make their diameter smaller to expand the range of treatment. As they are inserted into the blood vessels or the alimentary canals, development of them that have bending mechanism in their tips can improve the operability and reduce the operation time. Therefore, we have made the prototypes of the small diameter endoscope and catheter. We have used the spring as these frameworks of the bending mechanism to simplify these structures. These can be bend in all directions by controlling the wire tensions. And, we have developed bending motion controller. This controller has 2 handles. One handle can control the bending angle. The other handle can control bending direction.
