MICROMANIPULATION APPARATUS FOR CLINICAL APPLICATIONS

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 ofthe inner tube based on said analysed images which is used as feedback to the steering mechanism. 一种显微操纵设备包括限定所述设备的纵向z轴的外管，并且内管至少部分地安置在所述外管内。所述内管具有连续工作通道和延伸穿过其的内窥镜探针。转向机构可控制地改变所述内管的远端相对于装置z轴的横向x，y位置，并且消融能量输送装置沿所述z轴延伸穿过所述设备。造