Abstract: An endodevice is disclosed with tension control. The endodevice includes a back end unit with an endoscopic unit coupled thereto. The back end unit includes first and second sensor elements, wherein the first sensor element is arranged between a drive member and a first spring element and the second sensor element is arranged between another end of the first spring element and a first tendon coupler. Each of the first and second sensor elements are configured to generate a sensor signal wherein the first sensor element, the second sensor element and the drive member are connected to a control unit. The control unit is configured to obtain sensor signals from the first sensor element and the second sensor element and to compute a deflection of the first spring element on the basis of the sensor signals obtained from the first sensor element and the second sensor element.

Abstract: A medical endodevice for an intervention inside a human or animal body includes an elongated liaising structure having a distal end arrangeable inside a body of the human or animal being and a proximal end arrangeable outside the body while the distal end is inside the body. The endodevice has an intervention tool arranged to manipulate a target tissue inside the human or animal body. The intervention tool is arranged at the distal end of the liaising structure. The endodevice further includes a positioning unit having a moving formation arranged to dislocate the intervention tool relative to the target tissue, and an anchoring formation arranged to fix the moving formation to a fixing tissue inside the human or animal body such that the target tissue is positioned in a workspace of the intervention tool.

Abstract: A force sensing device is disclosed that includes a housing tip, a plurality of sensors stationarily spaced from each other, and a spring element connecting the housing tip to the sensors such that moving the housing tip and the sensor relative to each other causes a resilient deformation of the spring element. The spring element is configured to arrange the housing tip in a zero position relative to the sensors by a spring force of the spring element. The force sensing device is also equipped with a spring tensioning structure configured to adapt the spring force of the spring element.

Abstract: A medical endodevice (1) for an intervention inside a human or animal body comprises an elongated liaising structure (2) having a distal end arrangeable inside a body of the human or animal being and a proximal end arrangeable outside the body while the distal end is inside the body. The endodevice has an intervention tool arranged to manipulate a target tissue (51) inside the human or animal body. The intervention tool is arranged at the distal end (23) of the liaising structure (2). The endodevice (1) further comprises a positioning unit (3) having a moving formation (32) arranged to dislocate the intervention tool relative to the target tissue (51), and an anchoring formation arranged to fix the moving formation (32) to a fixing tissue (51) inside the human or animal body such that the target tissue (51) is positioned in a workspace of the intervention tool.