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Continuum NasoXplorer manipulator with shape memory actuators 309

In Table 2, we compare the following devices: (1) Sch€olly—ENT fiber-
scope 311003s, (2) Optim—ENTity SDXL (small diameter) LED Naso-
View Pharyngoscope, (3) Huger Endoscopy System—FN-32A Portable
Fiber Nasopharyngoscope, (4) Olympus Rhino-Laryngol Fiberscope
ENF-XP, and (5) Fuji Film ENT-Serie ER-530S2.
Table 2 shows that these representative commercial nasopharyngoscopes
have a small diameter ranging from 2.2 to 3.2mm. The slim designs of these
nasopharyngoscopes enable them to be used in pediatrics, as they can pass
nasal cavities with smaller diameters. Despite the slim designs of these naso-
pharyngoscopes, their field of view is not compromised. In addition, these
are flexible nasopharyngoscopes, which explains the high deflection angles
(110–140degrees) of these devices. The high deflection angles also suggest
that these nasopharyngoscopes can capture a broader range of views, allow-
ing for easy observation of areas of interest.
While they are much more flexible than conventional rigid nasopharyn-
goscopes, these commercially available nasopharyngoscopes are still not suit-
able for home use.

4.3 Satisfaction benchmarking in clinical needs
Table 3 shows the satisfaction benchmarking in clinical needs.

4.4 Target metrics

Table 4 describes the target specifications that we aimed to achieve, and the
marginal values describe the current specifications of the NasoXplorer.
4.5 Needs-metrics mapping matrix

Table 5 maps the needs and metrics in a matrix format.

4.6 Metrics benchmarking
Table 6 compares between NasoXplorer and five commercially available
nasopharyngoscopes.

5 Conclusion and future work

The NasoXplorer is an innovative yet highly functional device that aims to
provide a home-based kit for nasopharyngoscopy. With functional capabil-
ities that are able to compete with most existing nasopharyngoscopes, the
NasoXplorer allows patients to conduct nasopharyngoscopy in the comfort