We have been proposing new concept of active endoscope with hyper redundancy. This medical tool named “Hyper Endoscope” for minimally invasive surgery is driven by miniature cybernetic actuators. Dynamical model of the cybernetic actuator taking into account of Piezoelectric effect is proposed and detail performance is analyzed. Based on this result, new technique to minimize the number of lead wires is proposed. The FMVC (Frequency Modulation Velocity Control) with two lead wires as an analogue control method is invented and verified experimentally.
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Ikuta et al. (1998) studied this question.
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