Implementation And Experimental Evaluation of a Twisted String Driven Endoscope Prototype

The endoscope prototype based on Twisted String Actuation is a new and performing method to face up to an easier endoscopy headed by an automated endoscope. This tool could be controlled by a computer or a joystick, is always supervised by a medical specialist, and it has been analyzed in this thesis proceeding from the research papers to the testing on the real hardware prototype. The aim of the thesis is to find out and explore the possibilities and the capabilities of the endoscope prototype, creating the hardware setup and testing all its components in order to draw conclusions depending on the theoretical researches. Moreover, this graduate work is divided into four main sections: 1. The introduction, where it is described the actuation, the endoscope and our hypothesis with the potential applications. 2. The TSA-driven endoscope prototype part is a well described analysis in all its development phases with methodologies and explanations for the choices. 3. The Experiments and Results, where it is shown the real possibilities of employment of the instrument and the results obtained. 4. The Conclusion section expresses the outcome of this implementation and evaluation of the TSA-driven endoscope prototype.