Biomedical micro robots driven by miniature cybernetic actuator

New type of minimum invasive therapy in the abdominal cavity is proposed. For this purpose, hyper redundant active endoscope (hyper endoscope) should be developed. The first prototype of hyper endoscope driven by miniature cybernetic actuators is constructed and controlled successfully. Next, micro master slave control system with force feedback is verified by introducing "dither" technique. This system is very useful for remote surgery as well as micro surgery.