Page 133 - Flexible Robotics in Medicine

Modular origami joint operator to create bendable motions with multiple radii 119

MOJO bending tests on an artificial trachea, in the form of a PVC tube, show that it can
achieve the bending angles of 134.6, 135.6, 95.4, and 87.9 degrees for segments 1 through
4, respectively. It can achieve an 87.9-degree angle at the most distal tip to allow space for
the drill wire to drill through the trachea.

5.3.2 Needs metrics mapping matrix

5.3.2.1 Table of user needs

Table 5.2: Identification of needs tabulated according to their importance with 1 being the most
important and 5 being the least important.

Need no. Customer need Importance (1 5)
1 Controlled force 1
2 Stability and rigidity 1
3 Good visualization 1
4 Minimally invasive 1
5 Ease of operation 2
6 Customize 2
7 Durability 3
8 Affordable 4

5.3.2.2 Metrics table

Table 5.3: Generation of metrics table according to their importance with 1 being the most
important and 5 being the least important.

Metric Need Importance
no. no. Metric (1 5) Unit
1 1,2 Automatic mechanism 1 Manual/semi/full
2 2 Stability and stiffness of the 1 N
device
3 3 Lumens in the device 1 No. of lumens
4 4 Diameter of the device 1 mm
5 6 Bending angle 1 Degrees
6 5 Ease of operation 2 Yes/no
7 6 Module length 2 mm
8 7 Flexibility of hinge 2 No. of times until hinge
breaks
9 8 Market price 4 SGD