Page 152 - Flexible Robotics in Medicine
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138 Chapter 5
Figure 5.33
Graph of tip force against the pulling loads.
Figure 5.34
Experimental schematic and results.
Improvement This experiment can be improved by including the drill bit when conducting
the test. An optic fiber, instead of a drill bit, can be inserted into one of the MOJO device’s
lumens. A laser source can be shined at the start of the optic fiber, allowing the
transmission of light from one end to the other. The target in which the fiber hits can then
be determined. Targets of different areas can be used. The distance between the center of
the target and the drill bit, which represents the deviation from the target set (Fig. 5.35),
can then be measured, as shown in Fig. 5.35. A scatter plot can then be sketched to
illustrate the deviation.
