MICROMANIPULATION APPARATUS FOR CLINICAL APPLICATIONS

摘要

A micromanipulation apparatus comprises an outer tube defining a longitudinal z-axis of the apparatus and an inner tube is at least partially disposed within the outer tube. The inner tube has a continuous working channel and an endoscopy probe extending therethrough. A steering mechanism controllably varies the lateral x, y position of a distal end of the inner tube, relative to the device z-axis, and an ablation energy delivery device extends through the apparatus along the z-axis. A contrast agent delivery mechanism delivers contrast agent to the distal end of the inner tube via the continuous working channel or via a lumen of the outer tube. An image processor analyses images from the endoscopy probe and a controller optically determines magnitudes of displacements of the distal end of the inner tube based on said analysed images which is used as feedback to the steering mechanism.