Lei, Man Cheong. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2011. / Includes bibliographical references (leaves 79-80). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgement --- p.iii / Table of Contents --- p.iv / Chapter 1. --- Introduction --- p.1 / Chapter 2. --- Introduction to Ureteroscope --- p.3 / Chapter 2.1. --- Ureteroscope --- p.3 / Chapter 2.2. --- Configuration of flexible ureteroscope --- p.5 / Chapter 2.2.1. --- The optical system --- p.5 / Chapter 2.2.2. --- Deflection mechanism --- p.6 / Chapter 2.2.3. --- Control wires (Guidewires) --- p.9 / Chapter 2.2.4. --- Working channel --- p.10 / Chapter 2.3. --- Problems of the existing products --- p.10 / Chapter 2.4. --- Designs of the bending section --- p.11 / Chapter 2.4.1. --- Pin-joint bending section --- p.12 / Chapter 2.4.2. --- Wire-connected bending section --- p.15 / Chapter 2.5. --- CAD Modeling of the bending section --- p.16 / Chapter 2.5.1. --- Different designs of components --- p.16 / Chapter 2.5.2. --- Configuration of the bending section --- p.17 / Chapter 3. --- Wire-Driven Deflection Mechanism --- p.19 / Chapter 3.1. --- Literature review --- p.19 / Chapter 3.2. --- Geometry modeling of the bending section --- p.21 / Chapter 3.2.1. --- Description of formulation --- p.21 / Chapter 3.2.2. --- Assumption --- p.21 / Chapter 3.2.3. --- Notation --- p.22 / Chapter 3.2.4. --- Geometric analysis --- p.22 / Chapter 3.3. --- Simulations of the motion of the deflection mechanism --- p.26 / Chapter 3.3.1. --- Construction of the simulation --- p.26 / Chapter 3.3.2. --- Controlled by a pair of wires --- p.28 / Chapter 3.3.2.1. --- For bending section composed by identical parts --- p.28 / Chapter 3.3.2.2. --- For bending section composed by two sub-sections --- p.29 / Chapter 3.3.3. --- Controlled by two pairs of wires --- p.30 / Chapter 3.3.3.1. --- Deflecting in the same direction --- p.30 / Chapter 3.3.3.2. --- Deflecting in opposite direction --- p.31 / Chapter 3.4. --- Trajectory of the distal end --- p.32 / Chapter 3.4.1. --- Bending section composing by identical parts --- p.32 / Chapter 3.4.2. --- Bending section composing by two sub-sections --- p.40 / Chapter 3.4.2.1. --- Controlled by a single pair of wires --- p.43 / Chapter 3.4.2.2. --- Controlled by two pairs of wires --- p.46 / Chapter 3.5. --- Static analysis of the deflection mechanism --- p.57 / Chapter 4. --- Application: Design of Ureteroscope --- p.64 / Chapter 4.1. --- Design of the bending section --- p.64 / Chapter 4.2. --- Design of the control body --- p.67 / Chapter 4.2.1. --- Parts introduction and major assembling --- p.68 / Chapter 4.2.2. --- Control mechanism --- p.72 / Chapter 5. --- Conclusion and Future Work --- p.75 / Chapter 6. --- Bibliography --- p.79 / Chapter Appendix A: --- List of Publication --- p.81 / Chapter Appendix B: --- MATLAB Programs V --- p.83