Page 115 - Flexible Robotics in Medicine

CHAPTER 5

Modular origami joint operator to create

bendable motions with multiple radii

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1
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Abigail Thomson , Calvin Tan Song Hao , Lim Wei Han Darius ,
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Ong Yanhui , Annabelle , Pivatidevi Pareatumbee , Zion Tsz Ho Tse ,
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Chwee Ming Lim and Hongliang Ren 1
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Department of Biomedical Engineering, National University of Singapore, Singapore, The University
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of York, Heslington, York, United Kingdom, Singapore General Hospital, Bukit Merah, Singapore
The purpose of this design project is to create transoral steerable devices with multibending
using origami-inspired techniques for tracheostomy. The modular origami joint operator
(MOJO) developed in this project is a bending mechanism that uses an origami universal joint
as a hinge between modules of similar shapes and different lengths. It can achieve bending
angles at specific locations through mechanical actuation forces from tendons or pneumatic
pressure such that it can be navigated through the oral cavity and into the trachea without the
need to extend the neck or use introducers. Moreover, modules of different lengths allow for
customization so that more subjects are eligible to receive tracheostomy procedures.
The first part of this report will analyze the current endotracheal tubes to review their benefits and
shortcomings. Next, key performance targets and step-by-step procedures for operation devices
will be listed. Following this, the proposed device, MOJO, will be compared with endotracheal
tubes. The last section will present a brief discussion of safety and future developments.

5.1 Introduction

5.1.1 Overview of tracheostomy

The trachea, commonly known as the windpipe, plays a vital role in bringing airflow to the
lungs for respiration. It is a hollow tube that acts as a connection between the larynx and the
bronchi. The purpose of a tracheostomy procedure is to facilitate breathing without the use of
the nose and mouth and to remove secretions from the lungs. Price suggested that the need to
perform tracheostomy can be characterized into five broad categories, namely “mechanical
obstruction of the upper airways,” “protection of tracheobronchial tree in subjects at risk of
aspirations,” “respiratory failure,” “retention of bronchial secretions,” and “during major head or

Flexible Robotics in Medicine.
DOI: https://doi.org/10.1016/B978-0-12-817595-8.00005-5 101
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