An electrically-bent endoscope includes a bend driving portion for bending a bending portion. The bend driving portion has a motor for generating driving force, a gear train for transmitting driving force generated in the motor, a sprocket for converting driving force of the motor to a back and forth...http://www.google.fr/patents/US6932761?utm_source=gb-gplus-shareBrevet US6932761 - Electrically-bent endoscope