600 / | HD | SURGERY |
101 | DF | ENDOSCOPE {29} |
139 | .~ Having flexible tube structure {6} | |
140 | DF | .~.~> Plural layers |
141 | DF | .~.~> Articulated segments {1} |
143 | DF | .~.~> Having shape memory retaining material component |
144 | DF | .~.~> With adjustable rigidity |
145 | DF | .~.~> With bend detecting means (e.g., endoscope tracking) |
146 | DF | .~.~> With bending control means {6} |