Flexible ureteroscope capable of acute-angled and balanced omnidirectional bending based on soft and flexible porous tube and crossed control wiring

Flexible ureteroscopes (fURSs) have performance limitations in accessing acute-angled calyxes and omnidirectional bending. We propose and develop a fURS based on a soft and flexible porous tube and crossed control wiring to overcome these limitations. The fURS prototype comprises a flexible solid polyamide-12 tube and a stretch-retractable expanded polytetrafluoroethylene distal tube with 40