Water-jet outer sheath with braided shape memory polymer tubes for upper gastrointestinal tract screening.
Linkun YinShuxin WangSiyang ZuoPublished in: The international journal of medical robotics + computer assisted surgery : MRCAS (2018)
By controlling the water-jet and temperature of the braided SMP tubes, the outer sheath achieves a large workspace and a remarkable variability in stiffness, demonstrating the potential clinical value of the outer sheath system.