Insertion Shaft for an Electrically Actuated Scope

An insertion shaft for an electrically actuated scope, the insertion shaft comprising:

• at least two wires having proximal ends each anchored to a respective proximal anchoring point located at a proximal end of the insertion shaft or at a predetermined location along the insertion shaft and having distal ends each anchored to a respective distal anchoring point located between a distal end of the insertion shaft and the proximal anchoring point, the wires being disposed around a central axis and extending along the insertion shaft, wherein each of the wires comprises two-way memory material configured to contract when heated to or above a first predetermined temperature and return to a predetermined original length thereof upon cooling to or below a second predetermined temperature below the first predetermined temperature;
• wherein a bendable portion of the insertion shaft located between the proximal anchoring point and the distal anchoring point comprises a frame, comprising:
• a plurality of discrete slots, each slot being elongated and having a large dimension and a small dimension, the large dimension extending substantially radially or with a radial component from the central axis, each slot being traversed by a respective one of the wires and enabling movement of the wire along the large dimension;
• and
• one or more hollow spaces configured to be traversed by wiring and/or piping for tools held by the insertion shaft;
• wherein the insertion shaft is configured to be joined to a control apparatus, such that each wire is configured to be independently and selectively heated by application of electrical current from the control apparatus, to yield a bending of the bendable portion.