After the colonoscope is advanced in the body, the wire is pushed through the biopsy channel of the colonoscope.It bends with the curvature of the colonoscope.

• 在不改变内窥镜的结构的前提下,将光纤光栅传感网络介入其固有手术钳道,通过传感网络感知内窥镜上多个离散点空间曲率变化,利用离散曲率形状重建算法重构出内窥镜形状。