Abstract: A building cleaning apparatus includes a platform adapted to be suspended along a side of a building. The platform includes a base and a barrier mounted on the base that encloses an operator work station. The building cleaning apparatus includes a building cleaning structure mounted beneath the base of the platform. The building cleaning structure includes a cleaning component that is driven by a motor. The cleaning component is mounted such that at least a portion of the cleaning component is directly beneath the base of the platform during cleaning of the building.

Abstract: A cleaning brush apparatus that is mountable onto a platform that is suitably suspended from a building for cleaning exterior and/or interior surfaces of the building. The cleaning brush apparatus includes a cleaning brush that is rotatable relative to the platform about a rotation axis that is parallel to the longitudinal axis of the platform. The cleaning brush apparatus is mounted to the platform in a manner to define a walkway on the platform to the rear of the rotation axis that permits a human operator to walk on the platform behind the rotation axis and along at least a length of the cleaning brush apparatus. The cleaning brush apparatus may also be adjustably mounted on the platform to permit the cleaning brush apparatus to be adjusted in position on and relative to the platform in a direction parallel to the longitudinal axis.

Abstract: A reconfigurable upright vacuum cleaner has a surface cleaning head with a pedestal member pivotally mounted thereto. An upper portion, which comprises a portable surface cleaning unit removably mounted thereto, is mounted to the pedestal member. An above floor cleaning wand is removably mounted to the pedestal member. The portable surface cleaning unit is securable to the pedestal member by a portable surface cleaning unit lock.

Abstract: An upright surface cleaning apparatus may have a surface cleaning head with a central longitudinal axis extending between its front and rear ends. An upright section may be mounted to the surface cleaning head and may be moveable between a generally upright position and a rearwardly inclined in use position. The upright section may include an air treatment member assembly and a suction motor. The air treatment member assembly may include an air treatment member and a dirt collection region that is positioned laterally from the air treatment member. The suction motor may be positioned below at least one of the air treatment member and the dirt collection region. The first and second laterally opposed sides and one of the front side and the rear side of the air treatment member assembly may be generally rectangular in top plan view when the upright section is in the upright position.

Abstract: An upright surface cleaning apparatus comprises a surface cleaning head, an upright section and a rotatable mount. The upright section is moveably mounted to the surface cleaning head between a generally upright position and a rearwardly inclined in use position, the upright section has an air treatment member assembly, a push handle and a suction motor housing. The push handle has a longitudinally extending drive axis that extends through the air treatment member assembly and the suction motor housing. The rotatable mount rotatably mounts the upright section with respect to the surface cleaning head about an upright section axis wherein the rotatable mount underlies the upright section when the upright section is in the generally upright position.

Abstract: An upright surface cleaning apparatus comprises a surface cleaning head and an upright section. The surface cleaning head has rear wheels having a diameter and a central longitudinal axis extending between the front and rear ends. The upright section is movably mounted to the surface cleaning head between a generally upright position and a rearwardly inclined in use position. The upright section has an air treatment member assembly comprising an air treatment member, a dirt collection region wherein at least a portion of the dirt collection region is exterior to and laterally spaced with respect to the air treatment member and a housing having a suction motor therein. The diameter of the rear wheels is greater than a depth of the portion of the dirt collection region in a direction of the central longitudinal axis.

Abstract: A low profile upright surface cleaning apparatus comprises an air flow duct which has a length in a lateral direction that is transverse to the central longitudinal axis (front to back) of the surface cleaning head that is greater than a depth of the air flow duct in a direction of the central longitudinal axis.

Abstract: A low profile upright surface cleaning apparatus has an upright section which includes an air treatment member and a dirt collection region that is positioned laterally from the air treatment member wherein at least 60% of the volume is positioned laterally from the cyclone and/or on only one side of the air treatment member.

Abstract: An upright surface cleaning apparatus has a surface cleaning head, a cleaning unit moveably mounted to the surface cleaning head between a generally upright position and a rearwardly inclined in use position and a push handle. The cleaning unit comprises a support structure and an air treatment member assembly, wherein the support structure is positioned rearward of a front face of the air treatment member assembly when the cleaning unit is in the generally upright position. The push handle comprises a longitudinally extending member and is mounted to the support structure and a portion of the air treatment member assembly extends rearward of the longitudinally extending member when the cleaning unit is in the generally upright position.

Abstract: A low profile upright surface cleaning apparatus comprises a surface cleaning head and an upright section moveably mounted to the surface cleaning head. The upright section comprises an air treatment member and a suction motor. Each lateral side of the upright section has a clean air outlet and post-motor porous filter media located upstream of the clean air outlet.

Abstract: An upright surface cleaning apparatus comprises a surface cleaning head and a cleaning unit moveably mounted to the surface cleaning head between a generally upright position and a rearwardly inclined in use position, and a telescoping push handle. The cleaning unit comprises an air treatment member assembly comprising an air treatment member and a suction motor. The telescoping push handle comprises upper and lower telescoping longitudinally extending members which are reconfigurable between a retracted position and a first extended position, the lower telescoping longitudinally extending member having a first pivot joint wherein the first pivot joint is non-rotationally locked when the push handle is in the retracted position and the upper telescoping longitudinally extending member is pivotal about the first pivot joint when the push handle is in the first extended position.

Abstract: An upright surface cleaning apparatus comprises a surface cleaning head a cleaning unit moveably mounted to the surface cleaning head between a generally upright position and a rearwardly inclined in use position, a push handle and an above floor cleaning assembly. The above floor cleaning assembly comprises a flexible conduit having an inlet end and an outlet end, wherein in a floor cleaning mode the above floor cleaning assembly is positioned between a front transverse plane that extends transverse to the central longitudinal axis of the surface cleaning head and is located at the front side of the cleaning unit and a rear transverse plane that extends transverse to the central longitudinal axis and is located at the rear side of the cleaning unit.

Abstract: An upright surface cleaning apparatus comprises a surface cleaning and an upright section moveably mounted to the surface cleaning head between a generally upright position and a rearwardly inclined in use position. The upright section comprising a cleaning unit comprising a carry handle wherein the carry handle extends in a direction transverse to the central longitudinal axis of the surface cleaning head and wherein the carry handle has a hand grip portion that has a length in the transverse direction that is greater than a depth of the cleaning unit in a direction of the central longitudinal axis.

Abstract: An upright surface cleaning apparatus comprises a surface cleaning head, a cleaning unit moveably mounted to the surface cleaning head between a generally upright position and a rearwardly inclined in use position, a push handle and an above floor cleaning assembly. The cleaning unit comprises an air treatment member and the push handle is rotatably mounted with respect to the cleaning unit. The above floor cleaning assembly comprises a flexible conduit having an inlet end and an outlet end, wherein in a floor cleaning mode a first portion of the flexible conduit having the outlet end is located on the second lateral side of the air treatment member and a second transverse portion of the flexible conduit extends from the second lateral side of the air treatment member over the upper end of the air treatment member to the first lateral side of the air treatment member wherein the second transverse portion is vertically spaced from the rotational joint.

Abstract: A robot cleaner includes a display unit, a camera unit configured to capture an image of a cleaning region when cleaning starts, a dust sensor configured to output a sensed signal corresponding to an amount of dust sucked in the cleaning region, and a control unit configured to calculate the amount of dust based on the sensed signal, to start an augmented reality (AR) mode when cleaning ends, to generate an AR image corresponding to the amount of dust, and to control the display module to superimpose the AR image on the image.

Abstract: A nozzle includes: a housing having a chamber formed in the housing and a front opening formed on a front side of the housing; a rotation cleaning part accommodated in the chamber and to clean a floor; a partition member provided in the chamber to partition the chamber into two areas and of which at least a portion is in contact with the rotation cleaning part; a driving unit to rotate the rotation cleaning part; and a connection tube connected to the housing and configured to transfer air introduced through the front opening to a dust container of the cleaner, wherein a lower passage formed below the rotation cleaning part and an upper passage formed above the rotation cleaning part are provided in the chamber, and a portion of the partition member is recessed to define the upper passages.

Abstract: An attachment tool for a vacuum cleaning system includes a hollow body that extends from a first end to a second end and defines a flow path, and a conduit connector disposed at the second end of the body. The first end of the hollow body defines an inlet for receiving debris therethrough. The conduit connector includes an outer collar that defines a first inner engagement surface for connection to an outer diameter of a first vacuum conduit, and an inner collar that is concentric with the outer collar and defines a second inner engagement surface for connection to an outer diameter of a second vacuum conduit smaller than the outer diameter of the first vacuum conduit. The inner collar is axially offset from the outer collar towards the first end of the body.

Abstract: A surface cleaning apparatus has a dirty air inlet and an air treatment member. The air treatment member includes a dirt collection region having an openable door. When an accessory is connected to the dirty air inlet, the openable door is inhibited from opening.

Abstract: Method for operating a dirt collecting device for a sweeping vehicle or for a vacuum cleaner nozzle of a floor or upright vacuum cleaner, which each comprise a suction fan with controllable speed and/or power, wherein in a first method step, the suction power of the suction fan is set at such a low level that the suction pressure in the dirt collecting device or the vacuum cleaner nozzle is merely sufficient to convey and deposit the absorbed coarse dirt into the intermediate container, and to convey the absorbed fine dirt into a downstream collection container, (normal operation); and that in a second method step, the filling level in the intermediate container is detected with respect to the coarse dirt deposited therein; and that in a third method step, if the filling level in the intermediate container is exceeded, the suction power of the suction fan is increased such that the coarse dirt, which is temporarily deposited in the intermediate container, becomes dispersible and is conveyed into the downstrea

Abstract: A dust cleaner includes a primary cyclone part formed by an outer case and an inner case; and a secondary cyclone part including a set of cyclones. The secondary cyclone part includes a casing member mounted on the inner case and configured to form casings of the cyclones arranged around a hollow part; and vortex finders provided inside the casings and including guide vanes extending in a spiral direction and forming a revolving flow at outer circumferential surfaces. The casing member forms inlet flow paths of the cyclones, and each of the inlet flow paths is formed in a direction inclined with respect to a direction toward a center of each of the vortex finders to enable air to flow in a direction eccentric from the center of each of the vortex finders.

Abstract: A vacuum cleaner having a filter cleaning mechanism that is manually actuable while the vacuum cleaner is fully assembled is disclosed. A housing of the vacuum cleaner has an exterior side and an interior side, and a channel extends through the housing from the exterior side to the interior side. A filter brush is in contact with a side of the vacuum filter, and a rod extends slidably through the channel in the housing and is coupled to the filter brush. A handle is coupled to the rod, and movement of the handle slides the rod through the channel and moves the filter brush along the side of the vacuum filter to remove debris from the filter. The handle may be rotatable, and the filter cleaning mechanism may include a bellows or a sealing member.

Abstract: A filtration assembly (100) for a vacuum cleaner includes a filtration member (1) for filtering an impurity, in which an outer circumferential wall of the filtration member (1) is provided with a fixing frame (11) adapted to be fixed in the vacuum cleaner; and an ash tapping part (2) which includes a rack (21), a moving member (22), a gear (23) and a tapping member (24). Two ends of the rack (21) are fixed to the fixing frame (11), the moving member (22) is movably disposed to the rack (21), the gear (23) is disposed to the moving member (22) and meshes with the rack (21), the tapping member (24) is disposed to the gear (23) through a connecting shaft (241) so as to be driven to rotate by the gear (23), and the tapping member (24) is configured to tap the filtration member (1) during rotation to vibrate the filtration member (1).

Abstract: A cleaner includes: a suction unit that guides dust and air; a main body that includes a dust separation unit for separating dust from air guided through the suction unit; a main body terminal mounted on the main body; a handle unit that is slide-coupled to the main body; and a handle terminal mounted on the handle unit and is connected to the main body terminal when the handle unit is slide-coupled to the main body.

Abstract: A cleaner includes: a suction unit that guides air and dust; a main body connected with the suction unit and including a dust separation unit that separates dust from air, and a dust container that stores dust separated by the dust separation unit, at least a portion of the dust container being transparent or translucent; a handle unit connected to the main body and has a battery; a power receiving component disposed in the main body to be supplied with power from the battery; wires that are connected to the power receiver; and a cover member coupled to the main body and disposed between the main body and the wires to prevent the wires from being seen from the outside of the dust container.

Abstract: A cleaner includes: a suction motor that generates suction force; a suction unit that guides air and dust sucked by the suction force generated by the suction motor; a dust separation unit that separates dust from the air guided through the suction unit; a main PCB that generates control signals for the suction motor and includes a first PCB and a second PCB spaced apart from each other; a handle unit that receives the main PCB; and a PCB connector that connects the first PCB and the second PCB to each other and is coupled to the handle unit.

Abstract: A cleaner includes: a suction unit; a main body that is connected with the suction unit and separates dust from air sucked through the suction unit; and a handle unit that is connected to the main body, wherein the main body includes: a first body and a second body; a sealing member for sealing a boundary between the first body and the second body; and a support body that supports the sealing member and has an opening that communicates with the suction unit.

Abstract: A cleaner includes: a battery housing: a main body terminal that is disposed in the battery housing; and a battery that is separably coupled to the battery housing, wherein the battery includes: a plurality of battery cells; a battery management unit to manage voltage of the battery cells; and a battery terminal that is connected to the battery management unit and is connected to the main body terminal when the battery is inserted into the battery housing.

Abstract: A robot cleaner includes a housing a sensor assembly disposed in the housing, wherein the sensor assembly comprises a light source configured to emit light toward an area in front of the housing; a camera unit comprising a lens; a reflector configured to reflect light incident on a front of the housing toward a front region of the lens; and a guide member hollow inside configured to guide light incident on a top of the housing toward a rear region of the lens. The robot cleaner estimates a current position of the robot cleaner more accurately by correcting the current position of the robot cleaner estimated by using odometry information based on images acquired by the camera unit.

Abstract: A robot cleaner includes a camera, a display unit configured to display a cleaning region projected by the camera, a communication unit configured to perform communication with a mobile terminal to receive an image including the cleaning region captured by the mobile terminal, and a control unit configured to search a cleaning region based on a traveling path of the robot cleaner, to predict an estimated traveling path of the robot cleaner based on the cleaning region and the image including the cleaning region, to generate an augmented reality (AR) image of the estimated traveling path, and to display the AR image to be superimposed on the image including the cleaning region.

Abstract: A water-spraying mop comprising a mop rod, a mop head and a universal joint that rotationally connects the mop head and the mop rod; the mop rod comprises a water-squeezing frame that is disposed on the mop rod, and is capable of moving relative to the mop rod in an axial direction; the water-squeezing frame comprises a channel for allowing the mop head to pass through, a water-squeezing portion that is disposed in the channel, and faces the mop cloth while the mop head passes through the channel, and a liquid-spraying system consisted of a water tank, a water pump and a dynamic mechanism used for propelling the water pump to spray liquid; the water tank is disposed at the mop head, and the water pump is disposed in the mop rod.

Abstract: A device for the dry cleansing of surfaces to remove particulates contains triboelectrically chargeable component(s) of an organic polymer material containing uniformly distributed finely divided silicone polymer particles.

Abstract: Disclosed is a cleaning device for cleaning items to be cleaned. The cleaning device has at least one cleaning chamber and at least one covering device at least partially surrounding the cleaning chamber. The covering device can be moved in an opening movement direction from a closed position into an open position or in a closing movement direction from an open position into a closed position by means of at least one electromechanical drive via at least one transmission. The cleaning device furthermore has a sensor, which is designed to detect an action of a manual force on the covering device in the opening movement direction or in the closing movement direction. The cleaning device is furthermore designed to control the electromechanical drive in accordance with the detection of the action of the manual force.

Abstract: A dishwasher including a washing tub having a bottom plate having an opening, a nozzle having a spraying hole configured to spray water, the nozzle passing through the opening, and a sealing member configured to seal the opening. The bottom plate includes a base portion on which the nozzle is installed, and a protruding portion extending downward from the base portion to form the opening, the nozzle includes a support portion on the base portion, and a nozzle side portion facing the protruding portion. A part of the support portion contacts the base portion and another part of the support portion is spaced apart from the base portion according to an inclination of the base portion, where the sealing member is disposed between the protruding portion and the nozzle side portion. The spraying trajectory of the water can thus be kept constant despite the inclination deviation of the base portion.

Abstract: A washing machine and/or a fluid flow structure for a washing machine wash tank is provided. The wash tank is generally rectangular and includes a bottom wall, two side walls and two end walls extending upwardly from said bottom wall. The wash tank further includes at least one flow directional opening in at least one of the walls. In a preferred embodiment, the wash tank includes a plurality of flow directional openings positioned along one of the side walls of the wash tank. A fluid flow structure is located within said wash tank, which includes a fluid flow guide surface, and a support for said guide surface. The guide surface includes an expansion structure that is designed to counteract expansion of the guide surface that occurs during operation of the washing machine. In one embodiment the expansion structure is an expansion slot that engages a portion of the guide surface.

Abstract: A dishwasher includes a main body, a washing tub provided inside the main body, and configured to wash dishes therein, a fixed nozzle assembly fixed to one side of the washing tub, and configured to spray washing water; and a vane installed inside the washing tub in such a way to be movable along a first direction, and configured to reflect washing water sprayed from the fixed nozzle assembly toward the dishes.

Abstract: A dishwasher for cleaning utensils comprising a tub, a spray system, and a rack having a wireframe body, a set of fixed tines disposed on the wireframe body, and a set of slidably adjustable tines arranged in pairs and adjustable relative to the set of fixed tines.

Abstract: According to an aspect of the invention, the circumferential position of a protrusion portion of a light guide member is aligned with the position of a second groove portion of a pressing member and a tip portion of the light guide member is inserted into an insertion hole. Next, the light guide member is rotated to align the circumferential position of the protrusion portion of the light guide member with the position of a first groove portion of a mounting hole, and the tip portion of the light guide member is mounted in the mounting hole of a tip portion body. After that, a screw member is inserted into a through hole of the pressing member, is threadedly inserted into a screw hole of the tip portion body, and fixes the pressing member to a base end face of the tip portion body.

Abstract: Disclosed is an endoscope device. An endoscope device according to an embodiment of the present invention includes: a heating source that heats a diagnosis target tissue; a cooling source that cools the diagnosis target tissue; a sensing unit that measures temperature of the diagnosis target tissue; and an image processing unit that obtains a first value meaning a temperature change for a predetermined time of the diagnosis target tissue heated by the heating source on the basis of the temperature obtained by the sensing unit, obtains a second value meaning time until the heated diagnosis target tissue is stabilized by being cooled by the cooling source after obtaining the first value, and produces an image for diagnose a tumor in the diagnosis target tissue on the basis of the first value and the second value.

Abstract: A bend information computation apparatus is to compute bend information representing a direction and a magnitude of bend of a target group including targets disposed at an identical position along a light guide. Each target modulates the intensity of guided light in accordance with the direction and magnitude of bend.

Abstract: A treatment-instrument insertion aid (10) for aiding insertion of a treatment-instrument into a body includes an outer tube (30) having flexibility including a plurality of guiding portions (31) circumferentially spaced apart on an inner peripheral surface and extend in an axial direction from a distal end to a proximal end, a plurality of rail members (40) having flexibility, extend in an axial direction from a distal end to a proximal end and include guided portions (41) to be engaged with the guiding portions (31) respectively, and an inner tube (20) having flexibility and includes an engaged portion (21) to be engaged with an engaging portion (50) formed between the inner peripheral surface of the outer tube (30) and the adjacent rail members (40). The rail members (40) are fixed to a hard portion (30B) nearest to the distal end side of the outer tube (30).

Abstract: The present invention is about an endoscope ideal for a single use. The endoscope is able to enter human's body capturing real-time endourologic imaging, bending the distal end, and allowing the entrance of surgical tools. The distal end carries imaging sensor(s) and MicroLED/OLED/infrared LED/Laser LED/Laser diode/LED lighting source(s). The lever on the handle is able to control the distal end for bending up to 275 degrees in two directions, for rotating the distal end up to 360 degrees, and for adjusting an image sensor's orientation.

Abstract: A flexible cover for a probe having an ultrasound emitting tip that includes an inflatable portion, wherein the inflatable portion further includes a first reservoir, wherein the first reservoir is adapted to fit over the ultrasound emitting tip of the probe, and wherein the first reservoir is adapted to receive a first predetermined volume of fluid; a second reservoir adjacent to the first reservoir, wherein the second reservoir is adapted to receive a second predetermined volume of fluid; and a divider for completely separating the first reservoir from the second reservoir; and a collar connected to or formed integrally with the inflatable portion, wherein the collar is operative to seal the inflatable portion against the probe.

Abstract: An endoscope apparatus includes: an endoscope including an insertion portion, a suction conduit, a by-pass conduit, a suction button, and a solenoid valve; a high-frequency knife; and a valve opening/closing portion.

Abstract: In the case of an objective arrangement (1) having a deflection unit (4) which guides an imaging beam path (9) from a light entrance (2) to a light exit (3) via a first reflection surface (6) and a second reflection surface (7), it is provided to embody a region (8) of total internal reflection at least in the second reflection surface (7), with this region being configured for total internal reflection in the imaging beam path (9) and this region forming part of a transmission region (5) that is disposed upstream of the first reflection surface (6), through which imaging rays from the light entrance (2) are incident on the first reflection surface (6).

Abstract: An endoscope includes an insertion portion including an optical transmission module on a distal end portion, and an operation portion, the optical transmission module includes an optical fiber, a light emitting element, a holding member provided with a through-hole, a wiring board in which the light emitting element is bonded to a first main surface and the holding member is joined to the second main surface, and a transparent resin filling a space between a light emitting portion of the light emitting element and a distal end face of the optical fiber, and an entire periphery of a distal end portion of the optical fiber is tapered.

Abstract: A photoacoustic-ultrasonic dual-mode endoscope includes: a probe and a probe driving unit, wherein the probe includes: a coaxially configured optical and electromagnetic rotary waveguide assembly including an optical fiber, the optical fiber including a core and a cladding, and a conductive path coaxially arranged with the optical fiber; a scanning tip located at an end of the coaxially configured optical and electromagnetic rotary waveguide assembly and configured to deliver a laser beam to an object to be examined and detect a photoacoustic signal and an ultrasonic signal generated from the object to be examined; and a plastic catheter surrounding outer surfaces of the coaxially configured optical and electromagnetic rotary waveguide assembly and the scanning tip, wherein the conductive path includes: a first conductive path including a portion coaxially arranged with the optical fiber; and a second conductive path including a portion coaxially arranged with the optical fiber and insulated from the first co

Abstract: There is provided an endoscope of which a tip portion of an insertion unit can be reduced in diameter. A flat surface of an extending portion of a cap body is in contact with a planar mounting surface of an outer peripheral surface of a tip portion body and a second engagement portion is engaged with a first engagement portion in an endoscope of the invention, so that the tip portion body and the cap body are connected to each other. Further, a stringy or belt-like fixing member is disposed on an outer peripheral surface of a coating member, which covers a connecting portion between the tip portion body and the cap body, in the endoscope of the invention to fix engagement between the first and second engagement portions.

Abstract: An endoscope processor is used in combination with a scanning type endoscope capable of scanning an object by swinging an optical fiber that transmits illumination light supplied from a light source portion and displacing an irradiation position of the illumination light, and includes: a photodetection portion configured to detect return light from the object irradiated with the illumination light and generate and successively output a photodetection signal according to the detected return light; an image generation portion configured to generate an observation image of the object based on the photodetection signal; and a determination portion configured to determine whether or not the illumination light emitted through the optical fiber is intensively radiated to a minimum area, based on a magnitude of dispersion of brightness in the observation image.

Abstract: A light control device that performs, on an optical path of a light, optical control with respect to the light, comprises a blade, a rotary shaft member, a light control element, an upper substrate, and a lower substrate. The upper substrate is provided perpendicular to the rotary shaft member on one end of the rotary shaft member, has a first side surface positioned on the optical path side, and is formed to define a first space lateral to the first side surface and above a blade. The lower substrate is provided perpendicular to the rotary shaft member on other end of the rotary shaft member, has a second side surface positioned on the optical path side, and is formed to define a second space lateral to the second side surface and below the blade.

Abstract: Device for intra-cardiac and intra-vascular surgical procedure comprising an endoluminal ultrasound catheter probe which comprises a flexible tube a working channel for receiving and guiding transcatheter devices or instruments for the surgical procedure, and a three-dimension ultrasonic transducer, wherein the flexible tube has a working channel outlet on the distal end defining a ring-shaped surface, wherein the working channel longitudinal axis is off-centred in respect of the flexible tube longitudinal axis, thus defining a wider section and a narrower section of said ring-shaped surface, wherein the ultrasonic transducer is placed or coupled to the wider section. An embodiment comprises a hatch door for opening and closing the outlet, the hatch door being coupled to said wider section by a hinge, wherein the ultrasonic transducer is placed at said hatch door and the hatch door is hinged to rotate about an axis parallel to the longitudinal axis of the flexible tube.