The outer diameter of a rigid and flexible endoscope is limited because of the small incision for insertion of the endoscope, and thus it is difficult to incorporate several functions. In this research, a multifunctional bending transformative endoscope with a small diameter for insertion was developed. The tip of the endoscope is divided into three sections, and it can be transformed by manipulating wires from outside the body. Models of this bending type endoscope, which has two CCD cameras for 3D vision and rear view, were fabricated. Insertion of a forceps through its working channel was also demonstrated.
In recent years, the needs of force measurement in medicine are becoming stronger to realize further effective treatments and quantitative assessments. In this paper, we propose a new force sensor using fiber optic that is compatible with medical applications. Fiber Bragg Grating (FBG) enables force measurement in the long axis of the fiber by measuring the wavelength shift of spectral response of light source. The presented backbone shape allay force sensor using FBG fiber optic was developed to realize a multi-DOF bending force sensing in a compact stick shape implementation with the capability of sterilization and temperature compensation. In this paper, the sensor structure, mechanical principle, prototype implementation and evaluation are descried.