Page 11 - Flexible Robotics in Medicine
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Contents xi
Chapter 18: EndoGoose: a flexible and steerable endoscopic forceps with actively
pose-retaining bendable sections .....................................................401
Liting Pang, Ngu Tzce Chuing, Joyce Yeo Ling Li, Joe Tan Wei Wen, Dinesh
Manivannan, Manivannan Sivaperuman Kalairaj and Hongliang Ren
18.1 Introduction ..................................................................................................... 401
18.2 Methods........................................................................................................... 404
18.3 Design parameter verification .......................................................................... 408
18.4 Analysis of needs and metrics.......................................................................... 410
18.5 Conclusion....................................................................................................... 413
Acknowledgment ....................................................................................................... 414
References ................................................................................................................. 414
Chapter 19: Flexible drill manipulator utilizing different rolling sliding joints for
transoral drilling through the tracheal tissue ...................................417
Shiming Lin, Lu Ri, Lim Xue Lun, Chwee Ming Lim and Hongliang Ren
19.1 Clinical needs .................................................................................................. 417
19.2 Limitations of the current devices.................................................................... 419
19.3 Goldrill device: flexible endotracheal drill....................................................... 421
19.4 Needs matrix and technical advantages............................................................ 430
19.5 Evolution of prototype versions ....................................................................... 435
19.6 Design verification tests................................................................................... 439
19.7 Future developments........................................................................................ 446
19.8 Supplementary summary.................................................................................. 447
Acknowledgment ....................................................................................................... 453
References ................................................................................................................. 453
Chapter 20: Thermo-responsive hydrogel-based circular valve embedded with
shape-memory actuators.................................................................455
Manivannan Sivaperuman Kalairaj, Hritwick Banerjee, Keith Gerard Lopez
and Hongliang Ren
20.1 Introduction ..................................................................................................... 455
20.2 Materials and methods..................................................................................... 458
20.3 Results............................................................................................................. 463
20.4 Discussion........................................................................................................ 469
20.5 Conclusion and future work............................................................................. 471
References ................................................................................................................. 471
