Abstract: A stereoscopic optical system includes, at a distal end of an insertion part of an endoscope, a two-path forming optical system for forming two paths of rays involving a parallax, an image forming optical system for forming images out of light travelling along the respective paths of rays in the two-path forming optical system onto a common region, and an image sensor arranged at an image forming position of the image forming optical system. The stereoscopic optical system is further provided with a time-division path switching means that is capable of switching between the two paths of rays in a time-division manner so that only light coming from either one of the two paths of rays formed by the two-path forming optical system enters the image forming optical system.

Abstract: The imaging device includes an image sensor that includes a plurality of pixels that generate an image signal from an object image that is formed by an imaging optical system, a scaling section that performs a scaling process on an original image that includes image signals that correspond to the plurality of pixels, and an output section that outputs an image after the scaling process as a scaled image, the scaling section performing the scaling process using a different scaling factor corresponding to the position of a pixel of interest within the scaled image, and the image sensor including pixels in a number larger than the number of pixels of the scaled image as the plurality of pixels.

Abstract: A medical system includes an image pickup device configured to output, as image information, an electric signal after photoelectric conversion from a plurality of pixels, and a processing device that is connected to the image pickup device to allow bi-directional communication. The image pickup device includes a signal processing unit configured to perform a process of converting the electric signal into the image information, and to generate heat accompanying the process, a temperature detector that is provided in vicinity to the signal processing unit, and is configured to detect temperature of the signal processing unit, and an output unit configured to output temperature information on the temperature detected by the temperature detector, together with the image information. The processing device includes a controller configured to control the image pickup device based on the temperature information input from the output unit.

Abstract: An image capture unit for use in a medical imaging system can be coupled to an endoscopic camera, an external monitor, and a network. The image capture unit includes a touch-screen display to generate a graphical user interface and to receive associated user inputs. The image capture unit receives live video generated by the endoscopic camera, displays the video on the external monitor and/or the display, and stores the live video. The image capture unit can also store the live video in a remote computer system via the network. The image capture unit further can capture and store still images based on the live video and can store the still images in the remote computer system. “One-touch” network login and storage allows these operations to be performed in response to a single touch by the user.

Abstract: An endoscope includes an image pick-up unit extending in the axial direction within a distal end forming portion, and a channel tube extending in the axial direction within the distal end forming portion and including a parallel portion arranged parallel with the image pick-up unit, and the outer peripheral surface of the parallel portion includes a facing side diameter reducing portion arranged on a side facing the image pick-up unit and, with respect to a reference circumferential surface including a common central axis to the inner peripheral surface of the parallel portion, closer to a central axis side than the reference circumferential surface in a cross section orthogonal to the axial direction, and a diameter keeping portion arranged on a side other than the side facing the image pick-up unit and whose at least a part overlaps the reference circumferential surface.

Abstract: An image pickup apparatus includes first and second irradiation units that emit first light and second light, respectively, an image pickup unit that outputs, as pixel information, an electrical signal after photoelectric conversion from a pixel arbitrarily designated as a read target among pixels, a setting unit that arbitrarily sets a pixel as the read target and a read order in the image pickup unit, a control unit that controls irradiation processes in the first and second irradiation units and changes the pixel as the read target and the read order according to a type of an irradiation unit that emits light, a reading unit that reads the pixel information by causing the pixel information to be output from the pixel set as the read target, in accordance with the read order, and an image processing unit that generates an image from the pixel information read by the reading unit.

Abstract: An image processing apparatus is provided with: a first feature value calculating section calculating a first feature value for each of pixels constituting an image obtained by picking up an image of a subject; a region dividing section dividing the image into multiple regions on the basis of the first feature values; a second feature value calculating section calculating a second feature value for each of the divided regions; a classification section performing classification with regard to which of multiple kinds of attributes each region of the multiple regions has, on the basis of the second feature value; a judgment section judging whether a region having a predetermined attribute exists or not; and a diagnostic support information calculating section correcting an attribute value of the region having the predetermined attribute to calculate diagnostic support information for supporting a diagnosis.

Abstract: Method and system are provided for displaying images captured from a capsule camera system. In one embodiment of the present invention, annotation data associated with image sequence data is used to derive navigation guide for the images. The navigation guide comprises a series of part representations corresponding to the images, and wherein one color is selected for each of the series of part representations. In another embodiment of the present invention, the intensity of the image sequence data is used to derive the navigation guide, which comprises a series of intensity profiles corresponding to the images. Various ways to derive the intensity profile are disclosed.

Abstract: An imaging section images a subject to generate an image. A display displays an image. A measuring section measures the size of the subject on the basis of the image. A recording section associates calibration data of a measuring endoscope apparatus including a value obtained when the measuring section measures the size of the calibrator on the basis of an image obtained when the imaging section has imaged the calibrator, and calibration data of the calibrator including a value obtained when the calibrator is measured by a higher-rank measuring instrument of a traceability system, and a value obtained when the measuring section measures the size of a measurement object different from the calibrator on the basis of an image of the measurement object, with the image of the measurement object image and records the associated data on a recording medium.

Abstract: An endoscope apparatus has a transmission device of an endoscope and a reception device of a processor. The transmission device calculates a DC balance value of input data, compares the DC balance value and a cumulative value thereof, and compares the sign of the DC balance value and the sign of the cumulative value. When the signs are the same sign, the transmission device generates intermediate data by exchanging a first value and a second value with each other for all the bits of the input data, and generates predetermined information indicating that all the bits have been inverted. When the signs are different signs, the transmission device performs a process of setting the input data as the intermediate data and transmits the intermediate data by a serial signal.

Abstract: A method adjusts the sensitivity of an image sensor, and includes: adjusting an integration duration of the image sensor between a minimum duration and an image frame duration, receiving from the image sensor a frame signal, and amplifying the frame signal by applying an adjusted amplification gain between different minimum and maximum gain values. For each frame of the frame signal, if an integration duration, calculated as a function of an average value of the frame signal, is comprised between the minimum duration and a maximum duration equal to several times the frame duration, the method establishes the integration duration at the integration duration calculated and maintains the amplification gain at a fixed value, otherwise it maintains the integration duration at the minimum or maximum duration and adjusts the amplification gain between the minimum and maximum values as a function of the average value.

Abstract: A calibration tool for a scanning endoscope includes: an abutment portion that is in contact with and abuts an illumination window provided in a distal end face of an insertion portion of a scanning endoscope and is configured to be in contact with a region of the illumination window other than a region in which an illuminating light beam applied from the illumination window is scanned; and a chart with a calibration pattern drawn thereon, the calibration pattern being provided for calibrating a scan pattern of the illuminating light, the chart being arranged parallel to the distal end face with a predetermined distance from a surface of the illumination window positioned as a result of the illumination window coming into contact with the abutment portion, according to a size of the calibration pattern, whereby image calibration of the scanning endoscope can accurately be performed with a simple configuration.

Abstract: A network based surgical system including a first medical device having a first network interface, a second medical device having a second network interface, a communications network over which the first medical device, through the first network interface, and the second medical device, through the second network interface, are communicable, wherein the first network interface and the second network interface employ the same network protocol for communicating over the communications network, and wherein the first network interface has a maximum throughput greater than a maximum throughput of the second network interface.

Abstract: Provided is a position specifying system including: a light irradiation section that irradiates light to different positions of a physical body respectively; an image capturing section that captures images of an object existing inside the physical body, by means of the light irradiated to the different positions; and a position specifying section that specifies a depth of the object from a surface of the physical body onto which the light from the light irradiation section is irradiated, based on a difference in the images captured by the image capturing section.

Abstract: In an image processing apparatus, a storage circuit stores a parameter of a display processing characteristic in each display device and a parameter of a target value of image quality. The parameter of a target value of image quality includes a parameter of image processing of an image processing circuit to display a predetermined image quality and a parameter of display processing of the display device. An adjustment of image quality in the image processing apparatus is performed by adjusting a processing parameter when performing image processing on the image data that is output to the display device based on the parameter of the display processing characteristic corresponding to the display device that is a destination and on the parameter of the target value of image quality.

Abstract: A 3D endoscope includes an insertion portion, a left imaging unit which comprises a left imaging optical system and a left imaging device, a right imaging unit which comprises a right imaging optical system and a right imaging device, a receiving portion which receives the left imaging unit and a receiving portion which receives the right imaging unit. The 3D endoscope includes a body provided at a side of a distal end of the insertion portion, the body supporting the receiving portions at an angle to a longitudinal direction so that the inclination of a left optical axis relative to the longitudinal direction, the inclination of a right optical axis relative to the longitudinal direction, the angle of rotation of the left imaging unit around the left optical axis, and the angle of rotation of the right imaging unit around the right optical axis are adjustable.

Abstract: A liquid cooled endoscopy unit having plurality of LED light source units integrated into the proximal end of the arthroscope. The LED light source is cooled by the sterile conventional irrigation fluid circulating inside a cooling chamber located in the body of the arthroscope and conveniently capable on demand of emitting UV light for fluorescein endoscopy. The inventive device conveniently incorporate and contains all tubing and power supply cables for the camera and LED light source in a single tubing.

Abstract: Provided is an image processing device which includes a storage unit and a selection unit. The storage unit stores a plurality of data formats corresponding to different image qualities, as data formats specifying at least two elements from among resolution, color expression, update cycle, and gradation which are elements relating to the image quality of an image displayed by a display device which continuously subjects frame image data to display processing and displays images. Furthermore, the storage unit stores importance information indicating the importance of an element. If a detection unit detects that the communication environment has degraded, the selection unit selects, for an element selected based on the importance information stored in the storage unit, a data format having a lower quality specified format than the format specified by the data format currently selected.

Abstract: A receiving apparatus includes: a plurality of receiving antennas capable of receiving transmission data which is wirelessly transmitted frame by frame and includes a preamble at a head; a switching unit that selectively switches a connection to any one of the plurality of receiving antennas; a preamble detector that detects the preamble of the transmission data output via the receiving antenna which is connected by the switching unit; and a control unit that controls whether or not to cause the preamble detector to be in a sleep condition based on a detection result by the preamble detector.

Abstract: Medical endoscope system includes image pickup device and control target devices and controller configured to control the control target devices.

Abstract: An image measuring apparatus includes: an image acquiring section which images an object to generate input image data; an image processing section which performs image processing on the input image data to generate two output image data; a display which displays display image data corresponding to one of the output image data generated by the image processing section for an input of at least one measurement point; an input unit which inputs a measurement operation on the display image data as a reference; and a measurement section which performs measurement based on another output image data for which image processing by the image acquiring section is different from that for the display image data based on the measurement operation on the input unit.

Abstract: An average color bar indicating the overall imaging period of images taken in time sequence by a capsule endoscope is displayed. A list of checked images in the entire taken images is displayed in a checked-image display field, computation is made to what time during an observation period each checked image corresponds is computed, and a mark is displayed with a scale of the average color bar by a number corresponding to each checked image on the average color bar.

Abstract: An endoscope apparatus includes: an image processing portion that performs image processing on a signal of an image picked up by an image pickup device provided at a distal end portion of an endoscope insertion portion to generate an endoscope image; a gravity direction detecting portion that detects information about a gravity direction of the distal end portion; a gravity signal processing portion that performs predetermined signal processing on a signal of the information about the gravity direction detected by the gravity direction detecting portion to detect gravity information. The recording medium reading/writing portion of the endoscope apparatus stores data of the endoscope image generated by the image processing portion and data of the gravity information detected by the gravity signal processing portion in two AVI files and records the files on a recording medium.

Abstract: An image pickup apparatus includes: an image pickup device for picking up an image of an object; a reception portion that is provided in a processor including a signal processing portion processes an image signal obtained by picking up the object with the image pickup device, and that receives a first synchronization signal generated in a first synchronization signal generation portion and is transmitted through a cable; a calculation portion that sequentially detects a plurality of periods of the first synchronization signal that the reception portion receives, and carries out processing to perform a calculation that determines an average value of the detected plurality of periods of the first synchronization signal; and a second synchronization signal generation portion that generates a second synchronization signal taking a value based on a calculation result of the calculation portion as a period, and supplies the second synchronization signal to the image pickup device.

Abstract: A medical image processing apparatus is provided which generates a three-dimensional superposed image showing an inserted medical device in a preoperative image. More specifically, the medical image processing apparatus comprises; an input unit; an image signal generating unit; an image information generating unit which generates image information for acquiring a superposed image having a three-dimensional image of the medical device over a three-dimensional image a preoperative structure; and an output unit.

Abstract: An imaging mechanism includes: an imaging device; a light receiving section that is provided on one surface of the imaging device; a cover member that covers the one surface of the imaging device and the light receiving section; and a lens unit that has a plurality of lenses including a plano-convex lens having a flat portion and a lens barrel, and that is optically coupled to the light receiving section, the lens barrel fixing the plurality of lenses, wherein the plano-convex lens having the flat portion is provided at a closest position to the imaging device in the plurality of lenses such that the flat portion faces the imaging device, and the flat portion protrudes from an end of the lens barrel toward the imaging device and is fixed to the cover member.

Abstract: An image pickup apparatus is provided with a prism unit, two solid image pickup devices, two FPCs electrically connected to the solid image pickup devices and on which an electronic component is mounted, respectively, and two communication cables for supplying power to the electronic components through the FPCs and carrying out signal transmission/receiving with the solid image pickup devices, in which a first communication cable and a second communication cable are arranged adjacently and disposed so that a line connecting a center of the first communication cable to a center of the second communication cable is in a diagonal direction of an incident face of the second solid image pickup device in a plane perpendicular to an optical axis O of an objective lens unit.

Abstract: An observation instrument includes an image capturing device, a processor, a first display, a second display, a half mirror and a pair of polarized glasses. The processor is electrically connected to the image capturing device. The first display and the second display are electrically connected to the processor. The first display and the second display face each other, and cooperatively define a right or an obtuse angle. The half mirror is located on an angle bisector line defined by the first and the second displays for receiving emitting lights. The polarized glasses is located at a front of the half mirror, and comprises a first lens and a second lens, in which the first lens allows a perpendicularly polarized light to pass through only, the second lens allows a horizontally polarized light to pass through only.

Abstract: A system for wirelessly powering various devices positioned on an endoscope, including, for example, a light source, various electronics including an imager and/or a memory device. The system is further provided such that video signal processing parameters are automatically set for an endoscopic video camera system based upon characteristics of an attached endoscope, with reduced EMI and improved inventory tracking, maintenance and quality assurance, and reducing the necessity for adjustment and alignment of the endoscope and camera to achieve the data transfer.

Abstract: A videoscope includes: an imaging device having at least one monitoring subject pixel each of which produces, frame by frame, a normal detection value or an abnormal detection value, normal pixels and at least one defective pixel; a memory which is stored with a position address of each of the at least one monitoring subject pixel; and an image processing unit which performs image processing on image signals produced by the imaging device so as to judge, in each frame, based on information stored in the memory, whether each of the at least one monitoring subject pixel has produced a normal detection value or an abnormal detection value and to correct the detection value of each of the at least one monitoring subject pixel using detection values of nearby normal pixels only in frames in which an abnormal detection value is produced.

Abstract: The present invention provides an image pickup unit including an objective lens including a plurality of optical system members via which an object image is formed, the image pickup unit including: a fixed barrel that holds a fixed lens in the objective lens; a moving lens holding barrel that holds a moving lens and is disposed so as to be slidable along an optical axis inside the fixed barrel; and a voice coil motor section that generates a drive force for moving the moving lens holding barrel relative to the fixed barrel along the optical axis, and the voice coil motor section is disposed so that a center axis of action of a generated thrust force passes through a gravity center of a driven member to be driven by the voice coil motor section.

Abstract: A method for probing morphology of a tissue surface using a system which may include a light source, a polarizer, an analyzer, and a camera with a plurality of picture elements. The method illuminates the tissue surface with incident light through the polarizer. The camera may capture through the analyzer, scattered light from the tissue surface in a continuous sequence of image frames. Variation of polarization state may be of at least one of (1) the incident light from the light source by varying the polarizer or (2) the scattered light from the tissue surface by varying the analyzer. During the capture, for a picture element of the camera, a varying intensity signal of the scattered light is detected responsive to the varying polarization state.

Abstract: A method for reducing an effect of a video artifact includes adjusting a phase of a second imaging device's video clock signal so that a phase of the second imaging device's video synchronization signal matches a phase of a first imaging device's video synchronization signal. An endoscopic system includes a first imaging device, a second imaging device, a light source, and a controller that reduces an artifact in an image produced by the first imaging device. In some embodiments, the first imaging device faces the light source.

Abstract: This is an endoscope apparatus which has an endoscope which picks up an image of a sample using a solid state image pickup element and outputs an image pickup signal, and a processor which processes the above-mentioned image pickup signal, generates HDTV and SDTV serial digital video signals, switches one side of those selectively, and performs a serial output, in which the serial digital video signal switched selectively by the above-mentioned processor is output through a first connector, the above-mentioned processor is equipped with a discrimination signal generating section which is linked with selection switching of the above-mentioned HDTV or SDTV serial digital video signal to generate an HDTV/SDTV discrimination signal which can discriminate the above-mentioned HDTV or SDTV serial digital video signal, and the discrimination signal is output through a second connector different from the above-mentioned first connector.

Abstract: A method for processing video can include storing input video frame data at a video data buffer and outputting the stored video frame data from the video data buffer at an output video frame rate based on at least an amount of video frame data stored at the video data buffer.

Abstract: An image pickup system includes an image pickup device (CIS) provided with a TG which generates a first reference synchronization signal and includes a synchronization signal self-generating counter, and a processor provided with a TG that generates a second reference synchronization signal and a reference synchronization signal comparing section that compares the first reference synchronization signal superimposed on a video signal with the second reference synchronization signal, in which when a shift occurs between the first reference synchronization signal and the second reference synchronization signal, the processor transmits the second reference synchronization signal or phase correction amount information to the CIS, and the TG changes a timing of the first reference synchronization signal according to the second reference synchronization signal or the phase correction amount information.

Abstract: Provided are an endoscopic diagnosis support method, an endoscopic diagnosis support apparatus, and an endoscopic diagnosis support program, all of which are capable of extracting an image picking up a bleeding region easily and accurately from among a large number of endoscopic images picked up by an endoscope observation apparatus by calculating a tone from a color signal of each of plural image zones obtained by dividing the endoscopic image; and discerning an image zone including a bleeding region by judging a difference among each of the plural image zones based on a tone of the calculated each image zone in the endoscopic diagnosis support apparatus for supporting an endoscopic diagnosis performed based on an endoscopic image picked up by an endoscope observation apparatus.

Abstract: The endoscope system of the present invention includes: an endoscope that has an image pickup device that picks up an observation image of a test object; an image display unit that converts image pickup signals that have been sent from the image pickup device into images and then displays these images; a first mounting portion that is provided in an operating section of the endoscope and on which the image display unit is mounted; and a second mounting portion that is provided in the operating section of the endoscope and on which the image display unit is mounted in a different position from that of the first mounting portion.

Abstract: A light source unit, which is connected to a control unit and an endoscope, radiates a pre-determined light quantity of white light based on a signal from the control unit. The light source unit includes a lamp as a white light source, an infrared cut filter, a light quantity limiting filter, being inserted/removed on an optical path, for limiting light quantity in a pre-determined wavelength region of white light, a filter insertion/removal driving unit for inserting/removing the light quantity limiting filter on an optical path, and a condensing lens for outputting white light. For example, when a transmission rate of a blue band is 100%, the light quantity limiting filter limits transmission rates of other bands to 50%. This improves S/N in discrete spectral image generation with illumination light in a visible light region.

Abstract: An image display apparatus that can shorten time for observing a series of images of an interior of a subject without hampering observation of a desired region of interest is provided. The image display apparatus according to the present invention is an image display apparatus for displaying the series of images of the interior of the subject picked up at time series, including an image extracting unit 15a that extracts images each having a feature of a desired region in the interior of the subject and that identifies the extracted images as images of the desired region among the series of images, and a frame rate controller 15b that sets a display frame rate for the identified images of the desired region to be different from a display frame rate for images of regions other than the desired region.

Abstract: A body-insertable apparatus includes an imaging unit that captures an in-vivo image of a subject; a signal processing unit that writes the in-vivo image in a memory, reads the in-vivo image from the memory on a pixel basis and converts the in-vivo image to serial information to transfer the serial information; and a rate converter that converts a transfer processing rate to a rate higher than a writing processing rate. The transfer processing rate is at which the signal processing unit reads the in-vivo image from the memory and converts the in-vivo image to the serial information to transfer the serial information. The writing processing rate is at which the signal processing unit writes the in-vivo image in the memory. The apparatus also includes a transmitting unit that wirelessly transmits the serial information transferred from the signal processing unit at a transmission rate corresponding to the transfer processing rate.

Abstract: The present invention provides a measuring endoscope apparatus which includes an endoscope that photoelectrically converts an image of an object to generate an imaging signal, a signal processing section that processes the imaging signal to generate image data, a distance measuring section that calculates an object distance based on a principle of triangulation using the image data, and a display section that displays the image of the object based on the image data. The measuring endoscope apparatus further includes a measuring section that calculates a size of the mark indicating a size of the object based on the object distance and a view angle of the endoscope. The display section also displays a mark along with the image of the object based on the image data.

Abstract: The endoscope apparatus includes an image acquisition section (image composition processing section) that acquires a captured image in a zoom observation state in time series, the zoom observation state being an observation state in which a magnification of an optical system is higher than that in a normal observation state, a defocus amount information extraction section (texture extraction section) that extracts defocus amount information from the captured image in the zoom observation state, and a defocus amount correction section (texture correction amount calculation section, texture correction section, and blending section) that corrects the captured image based on the extracted defocus amount information.

Abstract: A reflected light image of an observed region and a fluorescent light image of the observed region based on fluorescent light that is generated from the observed region are acquired. The variation component of the acquired latest reflected light image is detected on the basis of the latest reflected light image and an old reflected light image. A correction process is performed on the luminance value of the latest reflected light image taking the variation component into account. A normalization process is performed on the luminance value of the fluorescent light image using the luminance value of the reflected light image after the correction process, which sharpens the image of the region in the observed region from which the fluorescent light is generated.

Abstract: Methods and apparatus for image processing suitable for use in wireless capsule endoscopy are provided. The image processing techniques exploit characteristic features of endoscopic images to enable low complexity compression. A color space conversion, coupled with lossless predictive coding and variable length coding are employed. Sub-sampling and clipping may also be used. The described image processing can be used both with both white-band imaging and narrow-band-imaging.

Abstract: An endoscope system includes an endoscope objective optical system that acquires two optical images with different focus positions, an image pickup device that picks up the two optical images to acquire two image signals, an image synthesis processing section that makes a comparison in contrast between the two image signals for each spatially identical pixel region and selects a pixel region having relatively higher contrast to thereby synthesize the two image signals into one image, and a focus switchover mechanism that moves a position of a focus switchover lens provided for the endoscope objective optical system and selectively switches a focus of the endoscope objective optical system to one of two observation regions of proximity observation and remote observation, in which the image synthesis processing section synthesizes two images in each of the respective observation regions of the proximity observation and the remote observation.

Abstract: An endoscope system includes an endoscope including a CCD for generating an image pickup signal, and a processor including a video processing circuit. The processor includes: a VCXO that generates a reference clock signal; a PLL circuit that synchronizes a phase of the image pickup signal to be inputted and a phase of the reference clock signal; a synchronization detection circuit that detects whether the phase of the image pickup signal synchronizes with the phase of the reference clock signal; and a multiplexer that controls the video processing circuit, on the basis of the detection result by the synchronization detection circuit, to cause the video processing circuit to output a predetermined video when a non-phase-synchronized state is detected, and to cause the video processing circuit to output a video signal obtained by processing the image pickup signal by the video processing circuit when a phase-synchronized state is detected.

Abstract: An endoscope apparatus comprises an imaging unit, a measurement point setting unit, a corresponding-point setting unit, a region setting unit, a display unit, and a measuring unit. The imaging unit acquires image data containing a first image and a second image, the first image and the second image being about the same subject to be inspected. The measurement point setting unit sets a measurement point on the first image. The corresponding-point setting unit sets a corresponding point on the second image based on a position of the measurement point. The region setting unit sets an information display region on the second image based on a position of the corresponding point. The display unit displays the first image, the second image, the measurement point, the corresponding point, and the information display region. The measuring unit measures a subject using the image data.

Abstract: A guide tube having a tube; a ciliary portion including many cilia inclined in a longitudinal direction of the tube, provided in an outer peripheral portion of the tube; and a vibration portion provided on the tube for vibrating the ciliary portion so as to move the tube in the longitudinal direction.

Abstract: A steerable structure of the catheter or endoscope type is disclosed. The structure includes an elastically or deformable longitudinal body including at least one actuator of material of the shape memory type incorporated longitudinally with the body together with a Joule-effect heater enabling the actuator to be contracted longitudinally in order to cause the longitudinal body to bend. The actuator extends over at least one portion of the body that presents varying stiffness.