Current tool
positioning through bending the last 10 cm. of the scope Current tool
positioning through bending the last 10 cm. of the scope Endo-platform
provides finer tool positioning: design similar to a tendon driven version
of a "Stewart platform". Spherical joint,
3-tendon control Closed-loop
control (2.2M mpeg movie) implemented
Shankar Sastry (sastry@robotics.eecs.berkeley.edu) / September
1996.