The disclosure herein describes a carrier adapted to receive observation and/or manipulation instruments; the carrier consists of a train of articulated segments whose angular displacement is controlled by a series of magnetic clutches; the leading segment is guided from the carrier's proximal end, and...http://www.google.fr/patents/US4054128?utm_source=gb-gplus-shareBrevet US4054128 - Device for carrying observation and/or manipulation instruments
Device for carrying observation and/or manipulation instruments
